Task: Put a mug with a knife in it inside a sink basin.

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              270            0
   1  Ladle           1.769          0.165          0.599          0              270            0              60
   2  Ladle           1.710          0.739          0.608          0              0              0              69
   3  Kettle          -0.320         0.926          0.738          0              0              0              76
   4  Fork            0.000          0.926          0.738          0              0              0              76
   5  Fork            1.661          0.580          0.462          0              90             0              72
   6  Spatula         0.107          0.940          0.273          0              0              0              76
   7  Spatula         1.603          0.136          0.745          0              180            0              60
   8  Pot             0.250          0.116          -1.408         0              0              0              57
   9  Pot             1.975          0.938          0.819          0              180            0              78
  10  Cup             -0.088         0.758          -1.546         0              0              0              92
  11  Cup             0.214          0.923          0.506          0              0              0              76
  12  Knife           -0.844         0.933          -1.415         0              0              0              68
  13  Knife           1.769          0.605          -0.165         0              0              0              53
  14  Knife           0.107          0.947          1.202          0              0              0              76
  15  SoapBottle      1.195          0.112          -1.416         0              0              0              61
  16  SoapBottle      -1.727         0.915          -0.864         0              0              0              68
  17  Bowl            -0.744         1.678          -1.652         0              0              0              70
  18  SaltShaker      -1.918         1.658          -1.056         0              90             0              55
  19  SaltShaker      1.986          0.907          1.182          0              0              0              68
  20  PepperShaker    -0.106         0.921          0.970          0              0              0              76
  21  Bread           0.889          0.992          -1.707         0              0              0              68
  22  Bread           -1.750         1.549          -0.175         0              90             0              91
  23  SoapBottle      -0.213         0.929          0.273          0              0              0              76
  24  Cup             -0.261         0.758          -1.490         0              0              0              92
  25  Pot             -0.106         0.929          0.041          0              0              0              76
  26  Fork            1.815          0.237          -0.157         0              90             0              51
  27  Ladle           0.661          0.955          -1.513         0              0              0              68
  28  Kettle          1.681          0.9            0.091          0              0              0              68
  29  Egg             -0.320         0.982          0.041          0              0              0              76
  30  Plate           1.726          0.910          1.182          0              0              0              68
  31  Pan             -1.286         0.9            -1.348         0              79.769         0              68
  32  Lettuce         1.653          0.988          -0.210         0              0              0              68
  33  Spatula         0.107          0.940          0.506          0              0              0              76
  34  Apple           -1.645         1.522          0.013          0              90             0              91
  35  Knife           0.321          0.947          0.506          0              90             0              76
  36  SaltShaker      1.885          1.655          -1.129         0              270            0              56
  37  PepperShaker    0.321          0.921          0.273          0              0              0              76
  38  CellPhone       1.714          0.761          1.292          0              270            0              74
  39  ButterKnife     0.214          0.925          1.202          0              0              0              76
  40  Bread           0.214          1.006          0.273          0              0              0              76
  41  Tomato          -1.855         1.731          -0.175         0              90             0              91
  42  Potato          1.956          1.030          -0.651         0              270            0              89
  43  DishSponge      1.815          0.579          0.462          0              0              0              72
  44  Spoon           -1.902         0.912          -0.864         0              0              0              68
  45  Mug             -1.990         0.906          -1.063         0              90             0              68
  46  Bowl            0.170          0.759          -1.490         0              0              0              92
  47  Cabinet         -0.495         0.474          -1.149         0              0              0
  48  Window          -0.010         1.582          -1.821         0              0              0
  49  Drawer          0.805          0.475          -1.159         0              0              0
  50  StoveBurner     1.764          0.902          0.601          0              270            0
  51  Drawer          1.5            0.196          -0.019         0              0              0
  52  Drawer          1.5            0.629          -0.018         0              0              0
  53  Drawer          1.5            0.602          -0.019         0              270            0
  54  StoveBurner     1.975          0.902          0.384          0              270            0
  55  Cabinet         -1.703         2.022          -1.453         0              90             0
  56  Cabinet         1.789          2.019          -0.819         0              270            0
  57  Cabinet         0.494          0.474          -1.149         0              0              0
  58  Cabinet         0.409          0.475          0.444          0              0              0
  59  Drawer          -0.696         0.475          -1.159         0              0              0
  60  Drawer          1.5            0.140          0.599          0              270            0
  61  Cabinet         1.389          0.474          -1.149         0              0              0
  62  Drawer          1.5            0.305          0.600          0              0              0
  63  StoveBurner     1.975          0.902          0.601          0              270            0
  64  Drawer          1.5            0.429          -0.019         0              0              0
  65  StoveBurner     1.764          0.902          0.819          0              270            0
  66  Drawer          1.5            0.519          1.220          0              0              0
  67  Cabinet         1.705          2.019          -1.449         0              0              0
  68  CounterTop      0.002          0.947          -1.513         0              0              0
  69  Drawer          1.5            0.629          0.605          0              0              0
  70  Cabinet         -0.627         2.019          -1.449         0              0              0
  71  StoveBurner     1.764          0.902          0.384          0              270            0
  72  Drawer          1.5            0.538          0.600          0              0              0
  73  Sink            0.0            0.893          -1.434         0              0              0
  74  Drawer          1.5            0.782          1.220          0              270            0
  75  Window          2.217          1.565          -0.384         0              0              0
  76  CounterTop      -0.014         0.961          0.505          0              0              0
  77  Drawer          1.5            0.200          1.220          0              0              0
  78  StoveBurner     1.975          0.902          0.819          0              270            0
  79  Window          -3.240         1.616          2.693          0              270            0
  80  Cabinet         -1.389         0.474          -1.149         0              0              0
  81  LightSwitch     -0.153         1.291          3.700          0              180            0
  82  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  83  StoveKnob       1.602          0.917          0.570          0              270            180
  84  StoveKnob       1.602          0.917          0.625          0              270            180
  85  StoveKnob       1.602          0.917          0.739          0              270            180
  86  StoveKnob       1.602          0.917          0.680          0              270            180
  87  StoveKnob       1.602          0.917          0.462          0              270            180
  88  StoveKnob       1.602          0.917          0.517          0              270            180
  89  Microwave       1.932          0.899          -0.766         0              270            0
  90  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  91  Fridge          -1.764         0.0            0.014          0              90             0
  92  SinkBasin       -0.014         0.736          -1.435         0              0              0
  93  Toaster         1.977          0.900          -0.336         0              270            0
  94  Faucet          -0.020         1.137          -1.605         0              270            0
  95  Chair           -9.354         0.000          1.242          0              180            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn around and walk forward to the chair, then turn right and walk to the large knife on the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn right towards the mug on the counter top. | STEP 4: Put the knife in the mug. | STEP 5: Pick up the mug from the counter. | STEP 6: Turn around and walk to the sink. | STEP 7: Put the mug in the sink, in front of the plastic container. | END