Task: Put the mug with the dirty knife on the black table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          -2.5           0              90             0
   1  DishSponge      -0.552         0.940          -1.450         0              0              0              56
   2  Fork            -3.440         0.760          -3.406         0              334.125        0              74
   3  Fork            -3.565         0.895          -0.376         0              270            0              75
   4  Spoon           -0.315         0.942          -1.581         0              0              0              56
   5  Spoon           -3.342         0.761          -3.185         0              244.125        0              74
   6  Egg             -0.134         1.616          -2.096         0              270            0              70
   7  Knife           -0.372         0.777          -2.685         0              270            0              43
   8  Knife           -4.062         0.716          -0.369         0              180            0              73
   9  Tomato          -0.376         1.337          -0.529         0              270            0              68
  10  Bread           -4.122         0.772          -0.308         0              0              0              73
  11  PepperShaker    -3.163         0.890          -0.204         0              270            0              75
  12  PepperShaker    -0.397         0.938          -2.729         0              0              0              38
  13  Mug             -4.122         0.686          -0.126         0              0              0              73
  14  Mug             -0.564         0.075          -3.172         0              315            0              52
  15  Apple           -2.560         0.956          -0.462         0              270            0              75
  16  Apple           -3.882         0.751          -0.369         0              0              0              73
  17  SoapBottle      -2.962         0.892          -0.204         0              270            0              75
  18  Pot             -0.437         0.961          -1.845         0              180            0              39
  19  Fork            -3.163         0.895          -0.376         0              270            0              75
  20  Cup             -2.139         0.943          -3.439         0              0              0              38
  21  Tomato          -2.962         0.945          -0.376         0              270            0              75
  22  Pan             -0.222         0.961          -2.243         0              0              0              57
  23  Plate           -0.283         1.502          -0.762         0              270            0              68
  24  Bread           -3.364         0.976          -0.633         0              270            0              75
  25  Spatula         -0.315         0.956          -1.406         0              0              0              56
  26  Knife           -1.471         0.967          -3.673         0              0              0              38
  27  SaltShaker      -0.549         0.076          -2.681         0              0              0              51
  28  PepperShaker    -3.163         0.756          -3.413         0              109.125        0              74
  29  ButterKnife     -0.605         0.813          -3.376         0              315            0              67
  30  Apple           -0.295         1.003          -3.019         0              45             0              38
  31  DishSponge      -1.154         0.753          -3.476         0              0              0              44
  32  Potato          -0.234         1.611          -2.096         0              270            0              70
  33  Egg             -0.134         1.620          -1.937         0              270            0              70
  34  Spoon           -0.406         0.753          -2.632         0              270            0              43
  35  Lettuce         -0.359         1.579          -0.413         0              270            0              68
  36  Mug             -1.694         0.937          -3.517         0              0              0              38
  37  Bowl            -2.560         0.892          -0.633         0              270            0              75
  38  CounterTop      -1.937         0.977          -3.673         0              0              0
  39  StoveBurner     -0.437         0.924          -1.845         0              180            0
  40  StoveBurner     -0.222         0.924          -1.845         0              180            0
  41  StoveBurner     -0.437         0.924          -2.243         0              0              0
  42  Drawer          -0.500         0.779          -1.450         0              0              0
  43  Drawer          -0.481         0.777          -2.739         0              0              0
  44  Drawer          -1.154         0.782          -3.499         0              0              0
  45  Cabinet         -0.337         2.110          -0.390         0              0              0
  46  Cabinet         -0.337         2.110          -1.272         0              0              0
  47  Cabinet         -0.337         2.110          -1.631         0              0              0
  48  Cabinet         -0.337         2.110          -2.497         0              0              0
  49  Cabinet         -0.337         1.891          -1.286         0              0              0
  50  Cabinet         -0.346         1.891          -3.293         0              0              0
  51  Cabinet         -0.629         0.388          -2.513         0              0              0
  52  Cabinet         -0.633         0.388          -3.008         0              0              0
  53  Cabinet         -1.010         0.388          -3.368         0              0              0
  54  Cabinet         -0.629         0.388          -1.614         0              0              0
  55  Cabinet         -0.327         1.886          -2.513         0              0              0
  56  CounterTop      -0.326         0.976          -1.450         0              0              0
  57  StoveBurner     -0.222         0.924          -2.243         0              0              0
  58  Sink            -0.600         0.929          -3.388         0              0              0
  59  StoveKnob       -0.617         0.899          -1.833         315            90             180
  60  StoveKnob       -0.617         0.899          -2.129         315            90             180
  61  StoveKnob       -0.617         0.899          -2.289         315            90             180
  62  StoveKnob       -0.617         0.899          -1.975         315            90             180
  63  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  64  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  65  Window          -1.389         1.610          -4.113         90             0              0
  66  LightSwitch     -4.372         1.493          -1.031         0              90             0
  67  SinkBasin       -0.614         0.802          -3.384         0              315            0
  68  Fridge          -0.314         0.0            -0.646         0              0              0
  69  Toaster         -1.970         0.930          -3.763         0              0              0
  70  Microwave       -0.216         1.470          -2.054         0              270            0
  71  Blinds          -1.373         2.205          -3.961         0              0              0
  72  Faucet          -0.393         0.930          -3.614         270            225            0
  73  SideTable       -4.030         0.002          -0.301         0              185.034        0
  74  DiningTable     -3.586         0.000          -3.258         0              0              0
  75  DiningTable     -3.224         -0.003         -0.453         0              0              0
  76  Shelf           -4.030         0.259          -0.301         0              185.034        0
  77  Shelf           -4.030         0.489          -0.301         0              185.034        0
  78  EastWall
  79  EastWall
  80  SouthWall

Plan:
STEP 1: Walk forward and turn right towards the sink. | STEP 2: Pick up the butter knife in the sink. | STEP 3: Turn around and walk across the room, then turn left towards the toaster. | STEP 4: Place the butter knife in the mug on the counter by the toaster. | STEP 5: Pick up the mug with the butter knife from the counter. | STEP 6: Turn right, walk towards the black table, turn right, then turn left and across the room to the black table. | STEP 7: Place the mug with the butter knife on the top of the black table. | END