Task: Put a mug with a knife in it on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          0.5            0              0              0
   1  Potato          1.155          0.946          1.553          0              0              0              77
   2  DishSponge      0.053          0.765          -0.541         0              0              0              99
   3  Kettle          2.221          0.912          1.214          0              0              0              77
   4  Pot             1.141          0.915          -0.684         0              0              0              42
   5  Pot             0.281          0.964          1.082          0              0              0              48
   6  Fork            -0.766         0.821          -1.308         0              90             0              101
   7  Fork            -0.887         0.821          -1.328         0              180            0              101
   8  Plate           1.955          0.914          1.214          0              0              0              77
   9  Cup             0.123          0.763          -0.651         0              0              0              99
  10  Knife           0.193          0.798          -0.596         0              270            0              99
  11  SoapBottle      2.221          0.917          1.383          0              0              0              77
  12  SoapBottle      -0.621         0.826          -1.155         0              90             0              101
  13  Tomato          -1.962         0.455          1.417          0              270            0              95
  14  Bowl            2.715          1.561          -0.775         0              0              0              97
  15  SaltShaker      -0.055         0.908          1.044          0              0              0              53
  16  SaltShaker      -0.766         0.817          -1.411         0              90             0              101
  17  Bread           2.754          0.969          1.129          0              0              0              77
  18  Bread           2.488          0.969          1.129          0              0              0              77
  19  SoapBottle      1.872          1.660          -0.849         0              180            0              79
  20  Plate           0.337          2.159          1.467          0              0              0              76
  21  Fork            0.888          0.912          -0.345         0              0              0              42
  22  Pot             2.838          1.022          -0.709         0              0              0              97
  23  Bread           -0.198         0.969          1.299          0              0              0              53
  24  Egg             2.488          0.949          1.383          0              0              0              77
  25  Kettle          0.678          0.964          1.345          0              0              0              80
  26  Tomato          -0.055         0.942          1.129          0              0              0              53
  27  Cup             2.907          0.112          1.193          0              0              0              74
  28  Spatula         1.422          0.926          1.129          0              0              0              77
  29  Apple           2.777          0.794          -0.473         0              0              0              97
  30  Pan             0.637          0.960          1.090          0              0              0              45
  31  Lettuce         2.917          1.345          -0.613         15.747         3.884          15.543         97
  32  SaltShaker      2.258          0.110          1.231          0              0              0              78
  33  Knife           2.488          0.944          1.468          0              0              0              77
  34  Potato          -0.887         0.855          -1.255         0              180            0              101
  35  PepperShaker    -0.246         0.908          1.044          0              0              0              53
  36  ButterKnife     1.141          0.911          -0.345         0              0              0              42
  37  Bowl            2.715          1.561          -0.512         0              0              0              97
  38  DishSponge      1.842          1.655          1.546          0              0              0              54
  39  Spoon           0.888          0.912          -0.769         0              0              0              42
  40  Mug             -0.087         0.760          -0.707         0              0              0              99
  41  Sink            0.050          0.902          -0.648         0              0              0
  42  CounterTop      1.358          0.947          -0.600         0              0              0
  43  Cabinet         2.986          2.009          1.304          0              0              0
  44  Cabinet         1.022          2.009          -0.607         0              180            0
  45  StoveBurner     0.678          0.923          1.082          0              0              0
  46  Cabinet         2.371          0.402          0.995          0              0              0
  47  Drawer          -0.125         0.792          0.995          0              0              0
  48  StoveBurner     0.281          0.923          1.082          0              0              0
  49  Cabinet         1.025          0.402          0.995          0              0              0
  50  Cabinet         1.023          0.402          -0.296         0              180            0
  51  Cabinet         0.974          2.259          1.304          0              0              0
  52  Cabinet         0.979          2.009          -0.607         0              180            0
  53  CounterTop      -0.158         0.947          1.299          0              0              0
  54  Cabinet         1.725          2.009          1.304          0              0              0
  55  Drawer          2.205          0.792          -0.294         0              180            0
  56  Drawer          1.869          0.792          -0.294         0              180            0
  57  StoveBurner     0.281          0.923          1.347          0              0              0
  58  Drawer          2.512          0.792          0.995          0              0              0
  59  Cabinet         1.673          0.402          -0.296         0              180            0
  60  Drawer          1.524          0.792          0.995          0              0              0
  61  Drawer          1.174          0.792          -0.294         0              180            0
  62  Cabinet         1.720          0.402          0.995          0              0              0
  63  Cabinet         2.348          2.009          -0.607         0              180            0
  64  Cabinet         1.676          2.009          -0.607         0              180            0
  65  Cabinet         1.673          2.009          1.304          0              0              0
  66  Cabinet         2.326          2.009          1.304          0              0              0
  67  Cabinet         2.370          2.009          1.304          0              0              0
  68  Cabinet         0.021          2.009          1.304          0              0              0
  69  Cabinet         1.025          2.009          1.304          0              0              0
  70  Cabinet         -0.274         0.402          0.995          0              0              0
  71  Cabinet         1.675          0.402          0.995          0              0              0
  72  Drawer          1.524          0.792          -0.294         0              180            0
  73  Drawer          2.187          0.792          0.995          0              0              0
  74  Cabinet         2.977          0.402          0.995          0              0              0
  75  Drawer          1.862          0.792          0.995          0              0              0
  76  Cabinet         0.072          2.259          1.304          0              0              0
  77  CounterTop      1.917          0.947          1.299          0              0              0
  78  Cabinet         2.328          0.402          0.995          0              0              0
  79  Cabinet         1.723          2.009          -0.607         0              180            0
  80  StoveBurner     0.677          0.923          1.345          0              0              0
  81  Cabinet         0.355          2.009          -0.607         0              180            0
  82  Cabinet         0.332          2.009          -0.607         0              180            0
  83  Cabinet         2.349          0.402          -0.296         0              180            0
  84  Cabinet         -0.284         2.009          -0.607         0              180            0
  85  Faucet          0.061          0.906          -0.903         0              0              0
  86  Drawer          2.837          0.792          0.995          0              0              0
  87  Drawer          1.175          0.792          0.995          0              0              0
  88  Cabinet         1.723          0.402          -0.296         0              180            0
  89  StoveKnob       0.588          1.093          1.557          287.970        0              0
  90  StoveKnob       0.188          1.093          1.557          287.970        0              0
  91  StoveKnob       0.749          1.093          1.557          287.970        0              0
  92  StoveKnob       0.338          1.093          1.557          287.970        0              0
  93  Toaster         1.934          0.900          -0.717         0              0              0
  94  LightSwitch     -1.662         1.427          1.649          0              180            0
  95  GarbageCan      -1.965         -0.029         1.358          0              270            0
  96  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  97  Fridge          3.043          0.0            -0.709         0              0              0
  98  Window          -2.183         1.501          -0.014         90             270            0
  99  SinkBasin       0.043          0.755          -0.651         0              0              0
 100  Microwave       0.531          1.675          1.437          0              180            0
 101  DiningTable     -0.836         8.404          -1.258         0              0              0
 102  Chair           -1.611         0.002          -1.185         0              45             0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn around, go straight to the sink. | STEP 2: Take the knife from the sink. | STEP 3: Stay at the sink but move right a little. | STEP 4: Put the knife in the white mug in the sink. | STEP 5: Take the mug from the sink. | STEP 6: Turn right, go towards the window, turn left to face the round table. | STEP 7: Put the mug on the round table. | END