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

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          0.25           0              0              0
   1  Pan             0.678          0.964          1.345          0              0              0              89
   2  Potato          3.341          0.875          -0.485         0              0              0              106
   3  Potato          0.053          0.800          -0.541         0              0              0              108
   4  DishSponge      1.558          0.771          -0.460         0              180            0              81
   5  DishSponge      -0.087         0.765          -0.651         0              0              0              108
   6  Kettle          1.173          0.115          -0.495         0              180            0              59
   7  ButterKnife     1.422          0.911          1.214          0              180            0              86
   8  ButterKnife     2.754          0.911          1.044          0              0              0              86
   9  Pot             0.281          0.964          1.082          0              0              0              57
  10  Fork            2.450          0.771          1.198          0              270            0              67
  11  Fork            2.899          0.772          1.198          0              270            0              95
  12  Spatula         1.955          0.926          1.299          0              0              0              86
  13  Spatula         0.053          0.780          -0.596         0              180            0              108
  14  Egg             2.838          0.762          -0.504         0              0              0              106
  15  Egg             1.649          0.949          -0.345         0              0              0              51
  16  Knife           1.688          0.944          1.214          0              0              0              86
  17  Knife           -0.103         0.944          1.044          0              0              0              62
  18  Knife           -0.836         0.853          -1.328         0              270            0              110
  19  SoapBottle      2.272          0.120          -0.419         0              180            0              92
  20  Tomato          2.591          1.050          -0.709         0              0              0              106
  21  Tomato          0.888          0.942          -0.430         0              0              0              51
  22  Bowl            1.835          0.112          -0.458         0              180            0              97
  23  SaltShaker      -0.694         0.817          -1.360         0              90             0              110
  24  SaltShaker      1.447          1.651          -0.693         0              180            0              73
  25  Mug             2.777          1.283          -0.644         0              0              0              106
  26  Mug             1.141          0.906          -0.769         0              0              0              51
  27  Mug             0.888          0.906          -0.684         0              0              0              51
  28  SoapBottle      -0.939         0.826          -1.328         0              0              0              110
  29  Plate           2.524          1.658          1.468          0              0              0              76
  30  Fork            1.893          0.772          1.122          0              90             0              84
  31  Pot             2.488          0.915          1.299          0              0              0              86
  32  Bread           2.715          1.621          -0.578         0              0              0              106
  33  Egg             2.900          1.326          -0.840         0              0              0              106
  34  Kettle          0.281          0.964          1.347          0              0              0              66
  35  Tomato          -1.991         0.455          1.459          0              270            0              104
  36  Cup             2.900          1.561          -0.840         0              0              0              106
  37  Spatula         0.193          0.780          -0.541         0              270            0              108
  38  Apple           0.415          1.853          1.423          0              180            0              109
  39  Pan             0.634          0.911          -0.430         0              0              0              51
  40  Lettuce         1.141          0.992          -0.430         0              0              0              51
  41  SaltShaker      -0.766         0.817          -1.206         0              90             0              110
  42  Knife           -0.983         0.853          -1.206         0              270            0              110
  43  Potato          -0.055         0.946          1.299          0              0              0              62
  44  PepperShaker    -1.056         0.817          -1.103         0              90             0              110
  45  ButterKnife     -0.151         0.911          1.214          0              0              0              62
  46  Bowl            2.754          0.909          1.299          0              0              0              86
  47  DishSponge      -1.056         0.820          -1.308         0              90             0              110
  48  Spoon           1.768          0.772          1.122          0              90             0              84
  49  Mug             0.570          1.779          1.455          0              180            0              109
  50  Sink            0.050          0.902          -0.648         0              0              0
  51  CounterTop      1.358          0.947          -0.600         0              0              0
  52  Cabinet         2.986          2.009          1.304          0              0              0
  53  Cabinet         1.022          2.009          -0.607         0              180            0
  54  StoveBurner     0.678          0.923          1.082          0              0              0
  55  Cabinet         2.371          0.402          0.995          0              0              0
  56  Drawer          -0.125         0.792          0.995          0              0              0
  57  StoveBurner     0.281          0.923          1.082          0              0              0
  58  Cabinet         1.025          0.402          0.995          0              0              0
  59  Cabinet         1.023          0.402          -0.296         0              180            0
  60  Cabinet         0.974          2.259          1.304          0              0              0
  61  Cabinet         0.979          2.009          -0.607         0              180            0
  62  CounterTop      -0.158         0.947          1.299          0              0              0
  63  Cabinet         1.725          2.009          1.304          0              0              0
  64  Drawer          2.205          0.792          -0.294         0              180            0
  65  Drawer          1.869          0.792          -0.294         0              180            0
  66  StoveBurner     0.281          0.923          1.347          0              0              0
  67  Drawer          2.512          0.792          0.995          0              0              0
  68  Cabinet         1.673          0.402          -0.296         0              180            0
  69  Drawer          1.524          0.792          0.995          0              0              0
  70  Drawer          1.174          0.792          -0.294         0              180            0
  71  Cabinet         1.720          0.402          0.995          0              0              0
  72  Cabinet         2.348          2.009          -0.607         0              180            0
  73  Cabinet         1.676          2.009          -0.607         0              180            0
  74  Cabinet         1.673          2.009          1.304          0              0              0
  75  Cabinet         2.326          2.009          1.304          0              0              0
  76  Cabinet         2.370          2.009          1.304          0              0              0
  77  Cabinet         0.021          2.009          1.304          0              0              0
  78  Cabinet         1.025          2.009          1.304          0              0              0
  79  Cabinet         -0.274         0.402          0.995          0              0              0
  80  Cabinet         1.675          0.402          0.995          0              0              0
  81  Drawer          1.524          0.792          -0.294         0              180            0
  82  Drawer          2.187          0.792          0.995          0              0              0
  83  Cabinet         2.977          0.402          0.995          0              0              0
  84  Drawer          1.862          0.792          0.995          0              0              0
  85  Cabinet         0.072          2.259          1.304          0              0              0
  86  CounterTop      1.917          0.947          1.299          0              0              0
  87  Cabinet         2.328          0.402          0.995          0              0              0
  88  Cabinet         1.723          2.009          -0.607         0              180            0
  89  StoveBurner     0.677          0.923          1.345          0              0              0
  90  Cabinet         0.355          2.009          -0.607         0              180            0
  91  Cabinet         0.332          2.009          -0.607         0              180            0
  92  Cabinet         2.349          0.402          -0.296         0              180            0
  93  Cabinet         -0.284         2.009          -0.607         0              180            0
  94  Faucet          0.061          0.906          -0.903         0              0              0
  95  Drawer          2.837          0.792          0.995          0              0              0
  96  Drawer          1.175          0.792          0.995          0              0              0
  97  Cabinet         1.723          0.402          -0.296         0              180            0
  98  StoveKnob       0.588          1.093          1.557          287.970        0              0
  99  StoveKnob       0.188          1.093          1.557          287.970        0              0
 100  StoveKnob       0.749          1.093          1.557          287.970        0              0
 101  StoveKnob       0.338          1.093          1.557          287.970        0              0
 102  Toaster         1.934          0.900          -0.717         0              0              0
 103  LightSwitch     -1.662         1.427          1.649          0              180            0
 104  GarbageCan      -1.965         -0.029         1.358          0              270            0
 105  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 106  Fridge          3.043          0.0            -0.709         0              0              0
 107  Window          -2.183         1.501          -0.014         90             270            0
 108  SinkBasin       0.043          0.755          -0.651         0              0              0
 109  Microwave       0.531          1.675          1.437          0              180            0
 110  DiningTable     -0.836         8.404          -1.258         0              0              0
 111  Chair           -1.611         0.002          -1.185         0              45             0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Take a step right and walk forward to the counter. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn around and take a step then turn left and walk to the area just right of the coffee maker and turn right to face it. | STEP 4: Put the knife in the mug that's in front of you. | STEP 5: Pick up the mug with the knife in it. | STEP 6: Turn around and take a step then turn left and walk until you're almost to the window about two feet away then turn left and walk to the small table. | STEP 7: Put the mug to the left of the pepper shaker, | END