Task: Place a mug with a knife in it in a sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          1.25           0              180            0
   1  Potato          -1.990         0.935          -0.914         0              0              0              64
   2  CellPhone       -1.874         0.909          -1.415         0              0              0              64
   3  CellPhone       -1.727         0.909          -1.063         0              0              0              64
   4  Kettle          -1.841         1.663          -1.282         0              90             0              51
   5  ButterKnife     1.662          0.545          1.153          0              0              0              62
   6  ButterKnife     0.000          0.925          0.738          0              0              0              72
   7  Spatula         -0.261         0.775          -1.380         0              270            0              88
   8  Pot             1.975          0.938          0.384          0              180            0              50
   9  Egg             -1.818         0.099          1.288          0              270            0              78
  10  Egg             -1.855         1.526          0.107          0              90             0              87
  11  SoapBottle      -1.551         0.915          -0.914         0              0              0              64
  12  Bowl            1.986          0.909          1.408          0              0              0              64
  13  Bowl            0.170          0.759          -1.490         0              0              0              88
  14  SaltShaker      0.000          0.921          0.273          0              0              0              72
  15  Lettuce         -0.002         0.837          -1.490         0              0              0              88
  16  Lettuce         0.214          1.002          0.506          0              0              0              72
  17  Mug             1.924          1.001          -0.547         0              270            0              85
  18  Apple           -1.771         1.082          -0.269         0              90             0              87
  19  SoapBottle      -0.106         0.929          0.273          0              0              0              72
  20  Cup             2.025          0.909          0.103          0              0              0              64
  21  Pot             -0.844         0.915          -1.415         0              0              0              64
  22  Fork            0.107          0.926          0.970          0              0              0              72
  23  Ladle           1.574          0.955          -1.610         0              0              0              64
  24  Kettle          1.765          0.938          0.601          0              180            0              46
  25  Egg             -1.753         1.086          0.107          0              90             0              87
  26  Plate           -1.244         0.112          -1.487         0              0              0              76
  27  Pan             -1.286         0.9            -1.348         0              79.769         0              64
  28  Lettuce         -0.213         1.002          0.970          0              0              0              72
  29  Spatula         0.107          0.922          0.041          0              0              0              72
  30  Apple           -1.692         0.616          0.201          0              90             0              87
  31  Knife           0.214          0.947          1.202          0              0              0              72
  32  SaltShaker      -0.213         0.921          -0.190         0              0              0              72
  33  PepperShaker    -1.114         1.675          -1.690         0              0              0              66
  34  CellPhone       0.214          0.923          0.273          0              0              0              72
  35  ButterKnife     -0.106         0.925          0.970          0              0              0              72
  36  Bread           0.256          0.987          -0.076         0              330.881        0              72
  37  Tomato          1.986          0.966          1.107          0              0              0              64
  38  Potato          0.321          0.949          0.738          0              0              0              72
  39  DishSponge      1.117          0.108          -1.479         0              0              0              57
  40  Spoon           -0.699         0.672          -1.301         0              0              0              55
  41  Mug             1.932          0.906          -0.053         0              270            0              64
  42  Bowl            -1.645         1.467          -0.175         0              90             0              87
  43  Cabinet         -0.495         0.474          -1.149         0              0              0
  44  Window          -0.010         1.582          -1.821         0              0              0
  45  Drawer          0.805          0.475          -1.159         0              0              0
  46  StoveBurner     1.764          0.902          0.601          0              270            0
  47  Drawer          1.5            0.196          -0.019         0              0              0
  48  Drawer          1.5            0.629          -0.018         0              0              0
  49  Drawer          1.5            0.602          -0.019         0              270            0
  50  StoveBurner     1.975          0.902          0.384          0              270            0
  51  Cabinet         -1.703         2.022          -1.453         0              90             0
  52  Cabinet         1.789          2.019          -0.819         0              270            0
  53  Cabinet         0.494          0.474          -1.149         0              0              0
  54  Cabinet         0.409          0.475          0.444          0              0              0
  55  Drawer          -0.696         0.475          -1.159         0              0              0
  56  Drawer          1.5            0.140          0.599          0              270            0
  57  Cabinet         1.389          0.474          -1.149         0              0              0
  58  Drawer          1.5            0.305          0.600          0              0              0
  59  StoveBurner     1.975          0.902          0.601          0              270            0
  60  Drawer          1.5            0.429          -0.019         0              0              0
  61  StoveBurner     1.764          0.902          0.819          0              270            0
  62  Drawer          1.5            0.519          1.220          0              0              0
  63  Cabinet         1.705          2.019          -1.449         0              0              0
  64  CounterTop      0.002          0.947          -1.513         0              0              0
  65  Drawer          1.5            0.629          0.605          0              0              0
  66  Cabinet         -0.627         2.019          -1.449         0              0              0
  67  StoveBurner     1.764          0.902          0.384          0              270            0
  68  Drawer          1.5            0.538          0.600          0              0              0
  69  Sink            0.0            0.893          -1.434         0              0              0
  70  Drawer          1.5            0.782          1.220          0              270            0
  71  Window          2.217          1.565          -0.384         0              0              0
  72  CounterTop      -0.014         0.961          0.505          0              0              0
  73  Drawer          1.5            0.200          1.220          0              0              0
  74  StoveBurner     1.975          0.902          0.819          0              270            0
  75  Window          -3.240         1.616          2.693          0              270            0
  76  Cabinet         -1.389         0.474          -1.149         0              0              0
  77  LightSwitch     -0.153         1.291          3.700          0              180            0
  78  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  79  StoveKnob       1.602          0.917          0.570          0              270            180
  80  StoveKnob       1.602          0.917          0.625          0              270            180
  81  StoveKnob       1.602          0.917          0.739          0              270            180
  82  StoveKnob       1.602          0.917          0.680          0              270            180
  83  StoveKnob       1.602          0.917          0.462          0              270            180
  84  StoveKnob       1.602          0.917          0.517          0              270            180
  85  Microwave       1.932          0.899          -0.766         0              270            0
  86  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  87  Fridge          -1.764         0.0            0.014          0              90             0
  88  SinkBasin       -0.014         0.736          -1.435         0              0              0
  89  Toaster         1.977          0.900          -0.336         0              270            0
  90  Faucet          -0.020         1.137          -1.605         0              270            0
  91  Chair           -9.354         0.000          1.242          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn right and face the counter. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn left and walk to the counter to the right of the stove. | STEP 4: Place the knife in the gray coffee mug. | STEP 5: Pick up the coffee mug. | STEP 6: Turn right and walk along the counter to the sink. | STEP 7: Place the mug in the sink in front of and to the left of the drain. | END