Task: Place a mug with knife onto 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           -4.0           0.900          -3.75          0              180            0
   1  Pen             -0.026         0.918          -1.900         0              90             0              57
   2  Pen             -2.210         0.926          -1.423         0              0              0              82
   3  Potato          -0.398         0.828          -1.934         0              270            0              75
   4  Potato          -1.204         1.661          -3.804         0              0              0              70
   5  DishSponge      -1.943         0.026          -3.835         0              0              0              73
   6  DishSponge      -1.496         1.969          -3.812         0              0              0              66
   7  ButterKnife     -2.210         0.923          -1.654         0              0              0              82
   8  ButterKnife     -2.552         0.923          -2.345         0              0              0              82
   9  WineBottle      -2.552         0.924          -1.654         0              0              0              82
  10  Pot             -1.129         0.935          -3.498         0              0              0              55
  11  Pot             -0.392         1.390          -0.769         0              270            0              74
  12  Spatula         -2.666         0.920          -1.885         1.189          180            0              82
  13  Fork            -2.096         0.924          -2.115         0              0              0              82
  14  Fork            -2.324         0.924          -1.423         0              0              0              82
  15  Spoon           -0.398         0.798          -2.155         0              270            0              75
  16  Egg             -0.388         1.723          -0.979         0              270            0              74
  17  Egg             -0.600         0.948          -3.909         0              0              0              57
  18  Lettuce         -2.438         1.016          -1.423         0              0              0              82
  19  Lettuce         -0.343         1.191          -0.769         0              270            0              74
  20  SaltShaker      -0.180         1.966          -1.663         0              0              0              59
  21  SaltShaker      -1.443         1.965          -3.928         0              0              0              66
  22  PepperShaker    -0.508         0.912          -2.764         0              0              0              57
  23  PepperShaker    -1.100         1.965          -3.851         0              0              0              66
  24  Mug             -0.348         1.685          -0.560         0              0              0              74
  25  Mug             -0.138         1.522          -3.125         0              0              0              69
  26  Mug             -0.254         0.792          -2.008         0              270            0              75
  27  Apple           -2.438         0.996          -1.654         0              0              0              82
  28  Lettuce         -2.666         1.016          -2.345         0              0              0              82
  29  Glassbottle     -2.096         0.924          -2.345         0              0              0              82
  30  Egg             -0.222         0.948          -3.771         0              0              0              57
  31  Pen             -0.150         0.918          -3.570         0              90             0              57
  32  Fork            -2.438         0.924          -1.193         0              0              0              82
  33  SoapBottle      -0.344         0.079          -2.155         0              0              0              62
  34  Pencil          -0.749         0.746          -3.586         0              270            0              56
  35  WineBottle      -0.671         0.916          -3.768         0              0              0              57
  36  Spatula         -2.666         0.938          -1.423         0              180            0              82
  37  Bread           -0.415         0.952          -3.625         0              0              0              57
  38  Tomato          -2.683         0.973          -2.044         315            115.004        260.624        82
  39  Pan             -2.174         0.913          -1.099         0              0              0              82
  40  Cup             -0.508         0.914          -2.563         0              0              0              57
  41  Pot             -1.515         0.935          -3.497         0              0              0              54
  42  SaltShaker      -2.552         0.919          -1.193         0              0              0              82
  43  Potato          -0.293         0.947          -2.563         0              0              0              57
  44  PepperShaker    -0.807         0.742          -3.615         0              0              0              56
  45  ButterKnife     -2.438         0.923          -2.115         0              0              0              82
  46  DishSponge      -2.780         0.923          -2.115         0              0              0              82
  47  Spoon           -0.671         0.916          -3.485         0              0              0              57
  48  Plate           -0.747         0.084          -3.584         0              0              0              63
  49  Knife           -2.666         0.946          -1.654         0              0              0              82
  50  Mug             -0.268         1.685          -0.665         0              270            0              74
  51  Bowl            -0.391         1.529          -3.679         0              45             0              65
  52  Cabinet         -0.582         0.388          -1.804         0              0              0
  53  StoveBurner     -1.515         0.928          -3.752         0              90             0
  54  StoveBurner     -1.515         0.928          -3.497         0              0              0
  55  StoveBurner     -1.129         0.928          -3.498         0              0              0
  56  Drawer          -0.749         0.779          -3.551         0              0              0
  57  CounterTop      -0.303         0.951          -2.793         0              0              0
  58  Cabinet         -0.883         2.140          -3.687         0              0              0
  59  Cabinet         -0.312         2.140          -1.543         0              0              0
  60  Sink            -0.349         0.907          -2.014         0              0              0
  61  Cabinet         -0.877         0.388          -3.422         0              0              0
  62  Cabinet         -0.582         0.388          -2.197         0              0              0
  63  Cabinet         -0.584         0.388          -3.396         0              0              0
  64  Cabinet         -0.312         2.140          -2.481         0              0              0
  65  Cabinet         -0.330         1.921          -3.390         0              0              0
  66  Cabinet         -1.764         2.140          -3.687         0              0              0
  67  StoveBurner     -1.129         0.928          -3.752         0              90             0
  68  Drawer          -0.454         0.779          -3.268         0              0              0
  69  Cabinet         -0.302         1.916          -2.501         0              0              0
  70  Microwave       -1.317         1.517          -3.801         0              1.440          0
  71  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  72  LightSwitch     -4.323         1.319          0.0            0              180            0
  73  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  74  Fridge          -0.330         0.0            -0.769         0              270            0
  75  SinkBasin       -0.350         0.786          -2.018         0              270            0
  76  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  77  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  78  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  79  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  80  Toaster         -0.181         0.903          -2.764         0              270            0
  81  Window          -2.503         1.782          -4.185         90             180            0
  82  DiningTable     -2.432         0.000          -1.694         0              270            0
  83  Shelf           -2.432         0.150          -1.694         0              270            0
  84  Blinds          -2.536         2.699          -3.959         0              0              0
  85  Faucet          -0.079         0.904          -2.034         270            180            0
  86  Chair           -3.264         0.002          -2.094         0              53.280         0
  87  Chair           -3.240         0.002          -1.253         0              117.257        0
  88  Shelf           -2.432         0.523          -1.694         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn around, walk into the kitchen, and approach the green table | STEP 2: Pick up the butter knife closest to table's edge | STEP 3: Turn around and walk up to the kitchen sink | STEP 4: Put the knife into the mug that's in the sink | STEP 5: Pick up the mug from the sink | STEP 6: Turn around and walk back to the table | STEP 7: Place the mug down on the table | END