Task: Place a mug with a knife on 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           -3.0           0.900          -3.0           0              90             0
   1  ButterKnife     -2.666         0.923          -2.345         0              0              0              74
   2  ButterKnife     -2.552         0.923          -1.193         0              0              0              74
   3  WineBottle      -2.666         0.924          -1.193         0              0              0              74
   4  Spatula         -2.552         0.938          -2.345         0              180            0              74
   5  Spatula         -2.324         0.938          -1.884         0              0              0              74
   6  Fork            -0.398         0.797          -2.008         0              180            0              67
   7  Spoon           -0.743         0.916          -3.555         0              90             0              49
   8  Plate           -2.438         0.925          -0.963         0              0              0              74
   9  Plate           -2.666         0.925          -1.423         0              0              0              74
  10  SoapBottle      -1.975         0.025          -3.763         0              0              0              65
  11  SoapBottle      -0.460         0.079          -2.109         0              0              0              54
  12  Tomato          -0.815         0.979          -3.485         0              0              0              49
  13  Bowl            -1.204         1.629          -3.870         0              0              0              62
  14  Bowl            -0.457         0.914          -3.697         0              0              0              49
  15  SaltShaker      -2.438         0.919          -1.423         0              0              0              74
  16  SaltShaker      -0.538         0.077          -1.666         0              0              0              54
  17  Apple           -0.268         1.764          -0.455         0              270            0              66
  18  Apple           -0.343         1.172          -0.769         0              270            0              66
  19  Apple           -0.295         1.464          -0.979         0              270            0              66
  20  Lettuce         -0.308         1.783          -0.979         0              270            0              66
  21  Glassbottle     -0.350         0.797          -1.860         0              270            0              67
  22  Egg             -0.188         1.723          -0.560         0              270            0              66
  23  Pen             -2.552         0.926          -0.963         0              0              0              74
  24  Fork            -0.671         0.916          -3.697         0              0              0              49
  25  SoapBottle      -2.780         0.922          -2.345         0              0              0              74
  26  Pencil          -0.661         0.747          -3.586         0              270            0              48
  27  WineBottle      -2.780         0.924          -1.193         0              0              0              74
  28  Spatula         -0.3           0.915          -2.544         0              22.903         0              49
  29  Bread           -0.343         1.443          -0.77          0              270            0              66
  30  Tomato          -0.815         0.979          -3.697         0              0              0              49
  31  Pan             -1.515         0.935          -3.752         0              90             0              45
  32  Cup             -0.295         1.097          -0.455         0              270            0              66
  33  Pot             -1.129         0.935          -3.498         0              0              0              47
  34  SaltShaker      -0.457         0.912          -3.909         0              0              0              49
  35  Potato          -0.228         1.722          -0.665         0              270            0              66
  36  PepperShaker    -2.096         0.919          -1.193         0              0              0              74
  37  ButterKnife     -2.552         0.923          -1.423         0              0              0              74
  38  DishSponge      -2.096         0.923          -2.115         0              0              0              74
  39  Spoon           -2.666         0.924          -1.654         0              0              0              74
  40  Plate           -2.666         0.925          -2.115         0              0              0              74
  41  Knife           -2.324         0.946          -1.654         0              0              0              74
  42  Mug             -1.100         1.964          -3.773         0              0              0              50
  43  Bowl            -0.747         0.081          -3.584         0              0              0              55
  44  Cabinet         -0.582         0.388          -1.804         0              0              0
  45  StoveBurner     -1.515         0.928          -3.752         0              90             0
  46  StoveBurner     -1.515         0.928          -3.497         0              0              0
  47  StoveBurner     -1.129         0.928          -3.498         0              0              0
  48  Drawer          -0.749         0.779          -3.551         0              0              0
  49  CounterTop      -0.303         0.951          -2.793         0              0              0
  50  Cabinet         -0.883         2.140          -3.687         0              0              0
  51  Cabinet         -0.312         2.140          -1.543         0              0              0
  52  Sink            -0.349         0.907          -2.014         0              0              0
  53  Cabinet         -0.877         0.388          -3.422         0              0              0
  54  Cabinet         -0.582         0.388          -2.197         0              0              0
  55  Cabinet         -0.584         0.388          -3.396         0              0              0
  56  Cabinet         -0.312         2.140          -2.481         0              0              0
  57  Cabinet         -0.330         1.921          -3.390         0              0              0
  58  Cabinet         -1.764         2.140          -3.687         0              0              0
  59  StoveBurner     -1.129         0.928          -3.752         0              90             0
  60  Drawer          -0.454         0.779          -3.268         0              0              0
  61  Cabinet         -0.302         1.916          -2.501         0              0              0
  62  Microwave       -1.317         1.517          -3.801         0              1.440          0
  63  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  64  LightSwitch     -4.323         1.319          0.0            0              180            0
  65  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  66  Fridge          -0.330         0.0            -0.769         0              270            0
  67  SinkBasin       -0.350         0.786          -2.018         0              270            0
  68  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  69  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  70  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  71  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  72  Toaster         -0.181         0.903          -2.764         0              270            0
  73  Window          -2.503         1.782          -4.185         90             180            0
  74  DiningTable     -2.432         0.000          -1.694         0              270            0
  75  Shelf           -2.432         0.150          -1.694         0              270            0
  76  Blinds          -2.536         2.699          -3.959         0              0              0
  77  Faucet          -0.079         0.904          -2.034         270            180            0
  78  Chair           -3.264         0.002          -2.094         0              53.280         0
  79  Chair           -3.240         0.002          -1.253         0              117.257        0
  80  Shelf           -2.432         0.523          -1.694         0              270            0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn left and look at the table. | STEP 2: Pick up the butter knife. | STEP 3: Turn right and walk to the microwave and look at it. | STEP 4: Open the top left cabinet above the microwave and put the knife in the black mug. | STEP 5: Take the mug out of the cabinet. | STEP 6: Turn around and walk to the right side of the table. | STEP 7: Place the mug on the table to the right of the sponge. | END