Task: put a mug with a knife in to 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          1.75           0              180            0
   1  Ladle           1.170          1.066          -1.774         0              90             0              46
   2  Ladle           2.336          1.066          1.797          0              136.999        0              46
   3  ButterKnife     2.302          0.764          3.62           0              0              0              47
   4  ButterKnife     -0.660         0.800          1.953          0              0              0              51
   5  Spatula         -0.418         1.042          0.692          0              0              0              49
   6  Spoon           1.297          0.791          -1.502         0              0              0              53
   7  Plate           2.893          1.027          1.200          0              136.999        0              46
   8  Plate           -0.645         0.817          1.492          0              90             0              103
   9  Knife           2.763          0.789          4.177          0              225            0              47
  10  Knife           1.350          1.052          -1.881         0              90             0              46
  11  SoapBottle      2.621          1.025          -1.151         0              0              0              46
  12  SaltShaker      -1.059         1.776          2.312          0              0              0              84
  13  SaltShaker      2.242          0.798          1.048          0              317.0          0              59
  14  Lettuce         2.258          0.822          3.858          0              329.999        0              47
  15  Mug             2.053          1.856          -1.775         0              0              0              92
  16  Mug             -0.908         1.776          0.679          0              90             0              64
  17  Mug             2.801          0.759          3.821          0              270            0              47
  18  Pan             2.621          1.026          0.068          0              0              0              46
  19  Glassbottle     1.903          0.765          3.737          0              225            0              47
  20  Knife           2.975          0.789          4.118          0              270            0              47
  21  SoapBottle      -0.544         1.026          2.066          0              0              0              49
  22  Egg             -0.922         1.486          -0.073         0              90             0              90
  23  Fork            1.640          0.801          1.603          0              317.0          0              61
  24  Potato          2.111          0.806          4.410          0              329.999        0              47
  25  Ladle           1.743          1.066          1.802          0              136.999        0              46
  26  Tomato          2.331          0.818          4.325          0              329.999        0              47
  27  Pot             1.761          1.027          -1.599         0              0              0              89
  28  WineBottle      -0.976         0.048          2.519          0              0              0              66
  29  Plate           2.525          0.764          4.145          0              0              0              47
  30  Spatula         2.762          0.816          0.256          0              270            0              57
  31  PaperTowelRoll  -0.916         0.181          2.748          0              0              0              101
  32  Lettuce         -0.645         0.874          1.181          0              90             0              103
  33  Apple           -0.577         0.866          1.337          0              90             0              103
  34  SaltShaker      2.698          0.760          3.688          0              329.999        0              47
  35  PepperShaker    2.686          1.777          -1.755         0              0              0              85
  36  ButterKnife     2.525          0.764          3.795          0              0              0              47
  37  Bread           2.790          0.832          3.529          0              329.999        0              47
  38  Cup             2.673          0.763          3.97           0              0              0              47
  39  DishSponge      2.302          0.764          4.495          0              0              0              47
  40  Bowl            2.959          1.025          -1.456         0              0              0              46
  41  Spoon           1.925          0.765          4.044          0              270            0              47
  42  Mug             -0.906         0.781          -0.627         0              90             0              90
  43  Sink            -0.716         1.023          1.333          0              0              0
  44  StoveBurner     1.835          1.018          -1.840         0              90             0
  45  StoveBurner     2.177          1.018          -1.599         0              0              0
  46  CounterTop      2.812          0.992          0.675          0              0              0
  47  DiningTable     2.419          0.003          3.930          0              0              0
  48  Drawer          -0.643         0.828          0.616          0              0              0
  49  CounterTop      -0.813         1.062          2.188          0              0              0
  50  StoveBurner     2.115          1.018          -1.840         0              270            0
  51  Drawer          -0.643         0.831          1.953          0              0              0
  52  Drawer          -0.643         0.833          2.418          0              0              0
  53  Drawer          1.347          0.836          -1.539         0              0              0
  54  Drawer          2.693          0.833          -1.131         0              0              0
  55  Drawer          2.693          0.833          -0.699         0              0              0
  56  Drawer          2.693          0.833          -0.267         0              0              0
  57  Drawer          2.693          0.833          0.163          0              0              0
  58  Drawer          2.524          0.833          0.720          0              2.000          0
  59  Drawer          2.232          0.833          1.036          0              2.000          0
  60  Drawer          1.936          0.833          1.354          0              2.000          0
  61  Drawer          1.646          0.833          1.670          0              2.000          0
  62  Cabinet         1.504          2.475          -1.710         0              0              0
  63  Cabinet         -0.823         2.220          1.621          0              0              0
  64  Cabinet         -0.823         2.220          0.615          0              0              0
  65  Cabinet         1.136          0.388          -1.355         0              0              0
  66  Cabinet         -0.356         0.383          2.626          0              0              0
  67  Cabinet         2.745          2.220          -1.690         0              0              0
  68  Cabinet         1.882          0.383          1.017          0              0              0
  69  Cabinet         1.307          0.473          1.640          0              0              0
  70  Cabinet         1.892          0.383          1.006          0              0              0
  71  Cabinet         2.467          0.383          0.383          0              0              0
  72  Cabinet         2.466          0.383          -0.475         0              0              0
  73  Cabinet         2.466          0.473          0.371          0              0              0
  74  Cabinet         2.386          2.475          -1.710         0              0              0
  75  Cabinet         -0.356         0.383          1.712          0              0              0
  76  Cabinet         2.745          2.220          0.019          0              0              0
  77  Cabinet         -0.663         2.496          0.157          0              0              0
  78  Cabinet         -0.663         2.496          -0.868         0              0              0
  79  Cabinet         -0.356         0.383          0.269          0              0              0
  80  Cabinet         -0.823         2.220          1.603          0              0              0
  81  Cabinet         -0.662         2.234          0.586          0              0              0
  82  Cabinet         2.745          2.220          -0.843         0              0              0
  83  Cabinet         2.745          2.220          -0.827         0              0              0
  84  Cabinet         -0.823         2.220          2.608          0              0              0
  85  Cabinet         2.732          2.226          -1.709         0              0              0
  86  Cabinet         1.137          2.226          -1.709         0              0              0
  87  Cabinet         2.466          0.383          -0.491         0              0              0
  88  Cabinet         2.466          0.383          -1.339         0              0              0
  89  StoveBurner     1.761          1.018          -1.599         0              0              0
  90  Fridge          -0.908         0.0            -0.405         0              0              0
  91  HousePlant      2.517          1.016          1.822          0              0              0
  92  Microwave       1.939          1.745          -1.826         0              0              0
  93  StoveKnob       2.017          1.041          -1.514         0              180            180
  94  StoveKnob       1.934          1.041          -1.514         0              180            180
  95  StoveKnob       2.017          1.041          -1.589         0              180            180
  96  StoveKnob       1.934          1.041          -1.589         0              180            180
  97  Window          1.756          1.608          4.762          90             0              0
  98  HousePlant      2.171          1.004          2.091          0              0              0
  99  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 100  LightSwitch     -0.099         1.410          -2.066         0              0              0
 101  GarbageCan      -0.951         -0.029         2.826          0              0              0
 102  Toaster         -1.007         1.018          2.238          0              90             0
 103  SinkBasin       -0.714         0.805          1.348          0              90             0
 104  Chair           1.615          0.004          4.310          0              107.976        0
 105  Faucet          -1.120         1.013          1.334          0              90             0
 106  Chair           2.759          0.004          3.086          0              358.967        0
 107
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: turn around and move passed the counter on the right and make a right to move towards the white round table, turn to the left to face the table in front of the loaf of bread | STEP 2: pick up the sharp knife with the yellow handle from the right side of the table | STEP 3: put the knife with the yellow handle into the tan coffee mug that is behind the loaf of bread | STEP 4: pick up the mug with the knife inside of it | STEP 5: turn to the left and move forward to the center of the kitchen, turn to the left and move forward to the sink that is on the right, turn to the right and move to the sink | STEP 6: put the mug with the knife inside of it in to the sink behind the tomato | END