Task: To put a knife in a mug and put the mug in the sink.

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          2.5            0              90             0
   1  CellPhone       1.610          0.693          -0.015         0              0              0              55
   2  CellPhone       0.661          0.909          -1.513         0              0              0              71
   3  Kettle          1.924          1.660          -1.129         0              270            0              59
   4  ButterKnife     1.714          0.763          1.220          0              270            0              77
   5  ButterKnife     0.107          0.925          0.970          0              0              0              79
   6  Fork            -1.727         0.912          -0.964         0              0              0              71
   7  Fork            1.812          0.225          1.088          0              90             0              80
   8  Spoon           0.170          0.761          -1.490         0              90             0              95
   9  Spoon           -1.668         0.912          -1.610         0              0              0              71
  10  Spatula         -1.727         0.926          -1.113         0              0              0              71
  11  Pot             -1.874         0.915          -1.513         0              0              0              71
  12  Pot             1.975          0.938          0.384          0              180            0              57
  13  Egg             -1.796         0.099          1.371          0              270            0              85
  14  Egg             -1.050         0.968          -1.513         0              0              0              71
  15  Cup             -1.750         1.675          0.201          0              90             0              94
  16  Cup             -1.902         0.909          -1.063         0              0              0              71
  17  Plate           -1.151         0.112          -1.423         0              0              0              83
  18  Knife           0.214          0.947          0.738          0              0              0              79
  19  SoapBottle      -1.483         1.683          -1.577         0              0              0              73
  20  SoapBottle      -1.237         1.683          -1.652         0              0              0              73
  21  Tomato          0.083          0.815          -1.435         0              0              0              95
  22  SaltShaker      0.361          0.109          -1.534         0              0              0              60
  23  Bread           0.000          1.006          1.202          0              0              0              79
  24  Lettuce         -1.803         1.545          0.013          0              90             0              94
  25  Mug             1.355          0.955          -1.362         0              0              0              93
  26  SoapBottle      0.361          0.116          -1.345         0              0              0              60
  27  Cup             -0.320         0.923          -0.190         0              0              0              79
  28  Pot             0.214          0.929          -0.190         0              0              0              79
  29  Fork            -0.213         0.926          0.738          0              0              0              79
  30  Ladle           0.000          0.969          -0.190         0              0              0              79
  31  Kettle          2.025          0.912          -0.131         0              0              0              71
  32  Egg             -1.789         1.086          0.295          0              90             0              94
  33  Plate           -1.803         1.674          -0.175         0              90             0              94
  34  Pan             -1.286         0.9            -1.348         0              79.769         0              71
  35  Lettuce         -0.213         1.002          0.041          0              0              0              79
  36  Spatula         1.769          0.135          0.454          0              0              0              63
  37  Apple           1.802          0.964          -1.513         0              0              0              71
  38  Knife           1.764          0.138          0.047          0              0              0              54
  39  SaltShaker      -0.106         0.921          0.738          0              0              0              79
  40  PepperShaker    1.760          0.691          0.048          0              0              0              55
  41  CellPhone       1.712          0.223          1.350          0              0              0              80
  42  ButterKnife     -0.213         0.925          0.273          0              0              0              79
  43  Bread           0.321          1.006          0.738          0              0              0              79
  44  Tomato          0.107          0.980          0.273          0              0              0              79
  45  Potato          2.020          1.030          -0.808         0              270            0              92
  46  DishSponge      1.802          0.911          -1.221         0              0              0              71
  47  Spoon           -0.088         0.761          -1.380         0              0              0              95
  48  Mug             0.256          0.755          -1.490         0              0              0              95
  49  Bowl            1.900          0.909          1.333          0              0              0              71
  50  Cabinet         -0.495         0.474          -1.149         0              0              0
  51  Window          -0.010         1.582          -1.821         0              0              0
  52  Drawer          0.805          0.475          -1.159         0              0              0
  53  StoveBurner     1.764          0.902          0.601          0              270            0
  54  Drawer          1.5            0.196          -0.019         0              0              0
  55  Drawer          1.5            0.629          -0.018         0              0              0
  56  Drawer          1.5            0.602          -0.019         0              270            0
  57  StoveBurner     1.975          0.902          0.384          0              270            0
  58  Cabinet         -1.703         2.022          -1.453         0              90             0
  59  Cabinet         1.789          2.019          -0.819         0              270            0
  60  Cabinet         0.494          0.474          -1.149         0              0              0
  61  Cabinet         0.409          0.475          0.444          0              0              0
  62  Drawer          -0.696         0.475          -1.159         0              0              0
  63  Drawer          1.5            0.140          0.599          0              270            0
  64  Cabinet         1.389          0.474          -1.149         0              0              0
  65  Drawer          1.5            0.305          0.600          0              0              0
  66  StoveBurner     1.975          0.902          0.601          0              270            0
  67  Drawer          1.5            0.429          -0.019         0              0              0
  68  StoveBurner     1.764          0.902          0.819          0              270            0
  69  Drawer          1.5            0.519          1.220          0              0              0
  70  Cabinet         1.705          2.019          -1.449         0              0              0
  71  CounterTop      0.002          0.947          -1.513         0              0              0
  72  Drawer          1.5            0.629          0.605          0              0              0
  73  Cabinet         -0.627         2.019          -1.449         0              0              0
  74  StoveBurner     1.764          0.902          0.384          0              270            0
  75  Drawer          1.5            0.538          0.600          0              0              0
  76  Sink            0.0            0.893          -1.434         0              0              0
  77  Drawer          1.5            0.782          1.220          0              270            0
  78  Window          2.217          1.565          -0.384         0              0              0
  79  CounterTop      -0.014         0.961          0.505          0              0              0
  80  Drawer          1.5            0.200          1.220          0              0              0
  81  StoveBurner     1.975          0.902          0.819          0              270            0
  82  Window          -3.240         1.616          2.693          0              270            0
  83  Cabinet         -1.389         0.474          -1.149         0              0              0
  84  LightSwitch     -0.153         1.291          3.700          0              180            0
  85  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  86  StoveKnob       1.602          0.917          0.570          0              270            180
  87  StoveKnob       1.602          0.917          0.625          0              270            180
  88  StoveKnob       1.602          0.917          0.739          0              270            180
  89  StoveKnob       1.602          0.917          0.680          0              270            180
  90  StoveKnob       1.602          0.917          0.462          0              270            180
  91  StoveKnob       1.602          0.917          0.517          0              270            180
  92  Microwave       1.932          0.899          -0.766         0              270            0
  93  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  94  Fridge          -1.764         0.0            0.014          0              90             0
  95  SinkBasin       -0.014         0.736          -1.435         0              0              0
  96  Toaster         1.977          0.900          -0.336         0              270            0
  97  Faucet          -0.020         1.137          -1.605         0              270            0
  98  Chair           -9.354         0.000          1.242          0              180            0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn right at the wall, turn right to face the table.  | STEP 2: Pick up the knife to the left of the loaf of bread.  | STEP 3: Turn left and walk over to the counter to the left of the fridge.  | STEP 4: Put the knife down in the cup on the counter.  | STEP 5: Pick up the mug from the counter.  | STEP 6: Turn around and walk to the sink on the right.  | STEP 7: Put the mug in the sink in front of the white mug.  | END