Task: Place a mug with a knife in 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           -4.25          0.900          -1.75          0              180            0
   1  Glassbottle     -0.385         0.916          -3.909         0              0              0              48
   2  Potato          -1.257         1.661          -3.837         0              0              0              61
   3  DishSponge      -1.654         1.969          -3.812         0              0              0              57
   4  WineBottle      -0.499         0.081          -3.299         0              0              0              54
   5  WineBottle      -0.671         0.916          -3.768         0              0              0              48
   6  Knife           -0.598         0.910          -3.667         90             3.565          0              48
   7  Plate           -0.747         0.084          -3.623         0              0              0              54
   8  Plate           -0.383         0.083          -2.155         0              0              0              53
   9  Cup             -0.447         0.796          -1.934         0              270            0              66
  10  Tomato          -0.246         1.454          -0.979         0              270            0              65
  11  Bowl            -0.295         1.529          -3.637         0              45             0              56
  12  Bowl            -1.100         1.968          -3.851         0              0              0              49
  13  Bread           -0.343         1.151          -0.560         0              270            0              65
  14  SaltShaker      -0.815         0.912          -3.485         0              0              0              48
  15  SaltShaker      -0.205         1.966          -2.420         0              0              0              55
  16  PepperShaker    -0.420         0.743          -3.208         0              0              0              59
  17  PepperShaker    -0.743         0.903          -3.485         0              0              0              48
  18  Apple           -0.268         1.764          -0.455         0              270            0              65
  19  Lettuce         -0.392         1.191          -0.979         0              270            0              65
  20  Glassbottle     -0.199         0.903          -3.568         0              2.926          0              48
  21  Egg             -2.037         0.059          -3.763         0              0              0              64
  22  Pen             -2.160         0.919          -0.829         0              0              0              73
  23  Fork            -0.295         0.788          -1.858         0              0              0              66
  24  SoapBottle      -0.183         0.903          -2.458         0              330.000        0              48
  25  Pencil          -2.114         0.918          -0.899         0              0              0              73
  26  WineBottle      -0.162         1.528          -3.125         0              0              0              60
  27  Spatula         -0.531         0.931          -3.472         0              357.130        8.724          48
  28  Bread           -0.388         0.957          -3.598         0              2.313          358.460        48
  29  Tomato          -1.912         0.090          -3.727         0              0              0              64
  30  Pan             -2.174         0.913          -1.099         0              0              0              73
  31  Cup             -0.228         1.689          -0.665         0              270            0              65
  32  Pot             -1.129         0.935          -3.498         0              0              0              46
  33  SaltShaker      -0.449         0.743          -3.297         0              0              0              59
  34  Potato          -1.943         0.058          -3.835         0              0              0              64
  35  PepperShaker    -0.293         0.912          -3.771         0              0              0              48
  36  ButterKnife     -0.371         0.903          -3.443         0              0              0              48
  37  DishSponge      -0.720         0.746          -3.556         0              0              0              47
  38  Spoon           -0.328         0.786          -2.125         0              33.895         0              66
  39  Plate           -0.422         0.083          -1.804         0              0              0              43
  40  Knife           -2.269         0.920          -2.143         90             315            0              73
  41  Mug             -0.447         0.792          -2.155         0              270            0              66
  42  Bowl            -0.348         1.689          -0.979         0              270            0              65
  43  Cabinet         -0.582         0.388          -1.804         0              0              0
  44  StoveBurner     -1.515         0.928          -3.752         0              90             0
  45  StoveBurner     -1.515         0.928          -3.497         0              0              0
  46  StoveBurner     -1.129         0.928          -3.498         0              0              0
  47  Drawer          -0.749         0.779          -3.551         0              0              0
  48  CounterTop      -0.303         0.951          -2.793         0              0              0
  49  Cabinet         -0.883         2.140          -3.687         0              0              0
  50  Cabinet         -0.312         2.140          -1.543         0              0              0
  51  Sink            -0.349         0.907          -2.014         0              0              0
  52  Cabinet         -0.877         0.388          -3.422         0              0              0
  53  Cabinet         -0.582         0.388          -2.197         0              0              0
  54  Cabinet         -0.584         0.388          -3.396         0              0              0
  55  Cabinet         -0.312         2.140          -2.481         0              0              0
  56  Cabinet         -0.330         1.921          -3.390         0              0              0
  57  Cabinet         -1.764         2.140          -3.687         0              0              0
  58  StoveBurner     -1.129         0.928          -3.752         0              90             0
  59  Drawer          -0.454         0.779          -3.268         0              0              0
  60  Cabinet         -0.302         1.916          -2.501         0              0              0
  61  Microwave       -1.317         1.517          -3.801         0              1.440          0
  62  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  63  LightSwitch     -4.323         1.319          0.0            0              180            0
  64  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  65  Fridge          -0.330         0.0            -0.769         0              270            0
  66  SinkBasin       -0.350         0.786          -2.018         0              270            0
  67  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  68  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  69  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  70  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  71  Toaster         -0.181         0.903          -2.764         0              270            0
  72  Window          -2.503         1.782          -4.185         90             180            0
  73  DiningTable     -2.432         0.000          -1.694         0              270            0
  74  Shelf           -2.432         0.150          -1.694         0              270            0
  75  Blinds          -2.536         2.699          -3.959         0              0              0
  76  Faucet          -0.079         0.904          -2.034         270            180            0
  77  Chair           -3.264         0.002          -2.094         0              53.280         0
  78  Chair           -3.240         0.002          -1.253         0              117.257        0
  79  Shelf           -2.432         0.523          -1.694         0              270            0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Walk ahead a step and then left to the counter in front of the coffee maker. | STEP 2: Pick up the butter knife on the counter. | STEP 3: Turn left and walk to the sink. | STEP 4: Put the knife in the black mug. | STEP 5: Pick up the mug. | STEP 6: Turn around and face the green table. | STEP 7: Place the stack of items on the table. | END