Task: To put a knife in the chilled mug and put the knife on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.914          3.25           0              270            0
   1  Potato          -0.323         1.018          3.863          0              180            0              69
   2  DishSponge      -1.666         0.789          3.7            0              0              0              73
   3  DishSponge      -3.654         0.915          3.827          0              0              0              43
   4  ButterKnife     -1.391         0.891          0.152          0              90             0              79
   5  WineBottle      -1.391         0.892          -0.053         0              90             0              79
   6  Spatula         -3.155         0.760          1.202          0              90             0              44
   7  Spoon           -1.127         0.892          0.358          0              90             0              79
   8  Spoon           -1.985         0.790          3.662          0              90             0              73
   9  Fork            -1.921         0.790          3.737          0              270            0              73
  10  Fork            -3.214         0.746          1.202          0              90             0              44
  11  Pot             -3.143         0.966          1.971          0              0              0              63
  12  Tomato          -1.523         0.960          0.049          0              90             0              79
  13  SoapBottle      -3.459         1.995          2.537          0              0              0              58
  14  SaltShaker      -3.156         0.743          3.027          0              0              0              45
  15  SaltShaker      -3.185         0.742          1.510          0              0              0              44
  16  PepperShaker    -1.127         0.887          0.152          0              90             0              79
  17  Lettuce         -1.608         1.001          4.146          0              90             0              43
  18  Apple           -1.192         0.146          3.820          0              270            0              75
  19  Apple           -1.259         0.951          0.049          0              90             0              79
  20  Egg             -3.505         1.581          2.016          0              90             0              74
  21  Knife           -1.127         0.915          0.152          0              90             0              79
  22  Fork            -3.124         0.738          2.929          0              135            0              45
  23  Bread           -1.259         0.972          0.564          0              90             0              79
  24  Potato          -0.089         1.574          4.102          0              180            0              69
  25  Plate           -2.410         0.084          3.625          0              0              0              54
  26  Pot             -3.424         0.966          2.374          0              0              0              49
  27  Kettle          -3.145         0.069          2.920          0              270            0              56
  28  WineBottle      -1.655         0.892          -0.053         0              90             0              79
  29  Bowl            -0.556         0.985          3.863          0              270            0              69
  30  Tomato          -0.556         0.791          3.817          0              180            0              69
  31  Cup             -1.787         0.891          0.152          0              90             0              79
  32  Spatula         -1.655         0.906          0.461          0              180            0              79
  33  SoapBottle      -0.994         0.891          0.049          0              90             0              79
  34  Lettuce         -0.440         1.072          4.051          0              180            0              69
  35  Pan             -2.614         0.902          3.620          0              0              0              43
  36  Apple           -3.473         1.606          2.224          0              90             0              74
  37  SaltShaker      -1.127         0.887          -0.053         0              90             0              79
  38  PepperShaker    -3.525         1.991          2.305          0              0              0              58
  39  ButterKnife     -3.272         0.915          3.663          0              0              0              43
  40  DishSponge      -3.508         1.458          3.224          0              0              0              50
  41  Spoon           -0.994         0.892          0.152          0              180            0              79
  42  Mug             -0.206         0.717          3.817          0              180            0              69
  43  CounterTop      -3.381         0.950          3.335          0              0              0
  44  Drawer          -3.121         0.775          1.357          0              0              0
  45  Drawer          -3.121         0.777          2.916          0              0              0
  46  StoveBurner     -3.148         0.958          2.374          0              0              0
  47  Sink            -1.797         0.917          3.660          0              0              0
  48  Cabinet         -1.421         0.388          3.459          0              0              0
  49  StoveBurner     -3.424         0.958          2.374          0              0              0
  50  Cabinet         -3.365         1.931          2.676          0              0              0
  51  StoveBurner     -3.424         0.958          1.971          0              0              0
  52  CounterTop      -3.381         0.951          1.356          0              0              0
  53  Drawer          -3.121         0.781          3.295          0              0              0
  54  Cabinet         -2.205         0.388          3.459          0              0              0
  55  Cabinet         -2.963         0.388          3.459          0              0              0
  56  Cabinet         -2.992         0.388          2.683          0              0              0
  57  Cabinet         -3.352         2.205          1.715          0              0              0
  58  Cabinet         -3.352         2.205          2.653          0              0              0
  59  Cabinet         -2.189         0.388          3.466          0              0              0
  60  Cabinet         -3.365         1.931          3.963          0              0              0
  61  Cabinet         -3.365         1.931          1.056          0              0              0
  62  Cabinet         -2.992         0.388          1.037          0              0              0
  63  StoveBurner     -3.143         0.958          1.971          0              0              0
  64  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  65  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  68  Toaster         -2.654         0.902          4.064          0              180            0
  69  Fridge          -0.439         0.014          3.996          0              0              0
  70  LightSwitch     0.25           1.383          2.085          0              270            0
  71  Window          -1.430         1.338          -0.347         90             0              0
  72  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  73  SinkBasin       -1.802         0.778          3.700          0              0              0
  74  Microwave       -3.484         1.430          2.182          0              90             0
  75  GarbageCan      -1.184         -0.020         3.794          0              270            0
  76  Blinds          -1.404         2.092          -0.296         0              0              0
  77  Stool           -1.373         0.014          1.048          1.214          20.754         0
  78  Faucet          -1.788         0.903          3.931          270            90             0
  79  DiningTable     -1.399         0.010          0.238          0              0              0
  80  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn left, turn left and walk towards the door, turn right at the door, walk to the garbage bag straight ahead, turn right to face the table.  | STEP 2: Pick up the sharp knife in front of the salt shaker.  | STEP 3: Turn and walk to the fridge.  | STEP 4: Open the fridge door, put the knife in the fridge in the mug,  | STEP 5: Pick up the mug from the fridge, close the fridge door.  | STEP 6: Turn and walk to the counter to the left of the stove.  | STEP 7: Put the mug down on the counter.  | END