Task: Place a knife inside of a chilled mug on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.5           0              180            0
   1  Potato          -2.135         1.081          -1.677         0              0              0              82
   2  DishSponge      -1.791         0.951          0.435          0              90             0              85
   3  Pot             1.007          0.962          0.561          0              270            0              54
   4  Fork            1.412          0.912          -1.489         0              0              0              52
   5  Fork            -0.540         0.774          -1.505         0              0              0              56
   6  Spoon           0.035          0.913          0.209          0              0              0              51
   7  Spoon           0.649          0.920          -1.715         0              270            0              50
   8  Spatula         -2.477         0.967          0.435          0              270            0              85
   9  Spatula         0.856          0.934          -1.449         0              0              0              50
  10  Cup             -2.203         0.950          0.165          0              90             0              85
  11  Plate           1.785          0.913          0.458          0              0              0              67
  12  Knife           -1.928         0.977          0.435          0              90             0              85
  13  Tomato          1.781          0.961          -1.737         0              0              0              52
  14  SaltShaker      -0.300         0.107          -1.619         0              0              0              61
  15  SaltShaker      1.535          1.325          -1.736         0              180            0              68
  16  PepperShaker    1.785          0.908          0.706          0              0              0              67
  17  Lettuce         -2.31          1.582          -1.763         0              0              0              82
  18  Mug             1.412          0.907          -1.737         0              0              0              52
  19  Mug             -0.544         0.907          -1.737         0              0              0              52
  20  Mug             1.608          1.323          -1.883         0              180            0              68
  21  Apple           -1.959         1.118          -1.677         0              0              0              82
  22  Apple           -0.394         0.137          0.612          0              90             0              81
  23  Bread           -1.928         1.035          0.255          0              90             0              85
  24  Knife           -2.203         0.977          0.435          0              180            0              85
  25  Fork            0.564          0.912          0.209          0              0              0              51
  26  Bowl            0.271          0.108          -1.547         0              180            0              49
  27  Kettle          -0.055         0.9            0.643          0              0              0              51
  28  Cup             -1.791         0.950          0.704          0              90             0              85
  29  Tomato          0.856          0.968          -1.582         0              270            0              50
  30  SoapBottle      1.792          0.107          0.236          0              0              0              60
  31  Plate           0.021          0.107          0.320          0              0              0              62
  32  Pot             1.361          0.962          0.561          0              270            0              57
  33  Spatula         -2.065         0.967          0.704          0              0              0              85
  34  PaperTowelRoll  0.167          1.016          0.623          0              0              0              51
  35  Egg             -0.544         0.947          -1.571         0              0              0              52
  36  Lettuce         -2.047         0.871          -1.763         0              0              0              82
  37  SaltShaker      -2.614         0.948          0.524          0              90             0              85
  38  PepperShaker    0.432          0.908          0.292          0              0              0              51
  39  Apple           -0.975         1.082          -1.704         0              0              0              74
  40  ButterKnife     1.289          0.912          -1.654         0              0              0              52
  41  Potato          -2.203         0.982          0.524          0              90             0              85
  42  Pan             1.022          0.959          0.288          0              219.190        0              64
  43  DishSponge      -0.150         0.772          -1.505         0              0              0              55
  44  Spoon           -2.203         0.953          0.345          0              90             0              85
  45  Mug             -2.31          0.506          -1.677         0              0              0              82
  46  Cabinet         -0.193         1.688          -1.648         0              180            0
  47  StoveBurner     1.360          0.957          0.293          0              180            0
  48  Drawer          0.499          0.792          0.296          0              0              0
  49  Cabinet         0.095          0.400          -1.352         0              180            0
  50  Sink            0.711          0.817          -1.772         0              270            0
  51  CounterTop      0.280          0.947          0.458          0              0              0
  52  CounterTop      -0.680         0.947          -1.654         0              0              0
  53  Drawer          1.825          0.792          0.296          0              0              0
  54  StoveBurner     1.007          0.957          0.561          0              270            0
  55  Drawer          -0.150         0.792          -1.496         0              0              0
  56  Drawer          -0.586         0.792          -1.496         0              0              0
  57  StoveBurner     1.360          0.957          0.561          0              270            0
  58  Drawer          0.024          0.792          0.296          0              0              0
  59  Cabinet         1.079          0.400          -1.349         0              180            0
  60  Cabinet         1.669          0.402          0.151          0              0              0
  61  Cabinet         0.055          0.402          -1.351         0              0              0
  62  Cabinet         -0.180         0.402          0.151          0              0              0
  63  Cabinet         0.729          0.402          0.151          0              0              0
  64  StoveBurner     1.007          0.957          0.293          0              180            0
  65  Drawer          -1.100         0.792          -1.496         0              0              0
  66  Cabinet         -0.396         0.402          -1.351         0              0              0
  67  CounterTop      1.776          0.947          0.458          0              0              0
  68  Cabinet         1.974          1.688          -1.648         0              180            0
  69  Cabinet         -0.820         0.400          -1.349         0              180            0
  70  Toaster         0.305          0.900          0.552          0              180            0
  71  LightSwitch     -2.756         1.307          -0.987         0              90             0
  72  Window          0.582          1.613          -1.967         90             0              0
  73  Window          1.969          1.5            -0.615         90             270            0
  74  Microwave       -1.037         0.900          -1.723         0              0              0
  75  SinkBasin       0.377          0.765          -1.655         0              270            0
  76  CoffeeMachine   0.618          0.900          0.600          0              180            0
  77  StoveKnob       1.246          0.913          0.118          45             180            0
  78  StoveKnob       1.373          0.913          0.118          45             180            0
  79  StoveKnob       0.995          0.913          0.118          45             180            0
  80  StoveKnob       1.126          0.913          0.118          45             180            0
  81  GarbageCan      -0.368         -0.029         0.539          0              90             0
  82  Fridge          -2.134         0.0            -1.690         0              0              0
  83  Faucet          0.549          1.046          -1.833         0              232.527        0
  84  Stool           -1.475         0.000          0.414          1.233          280.375        0
  85  DiningTable     -2.255         -0.004         0.432          0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn right, walk to the door, then turn left to face the refrigerator.  | STEP 2: Open the fridge, take out the dark mug from the third shelf, then close the door.  | STEP 3: Turn around completely and walk up to the table.  | STEP 4: Place the mug down on the table, to the left of the beer mug.  | STEP 5: Pick up the yellow handled knife that is sitting in front of the potato on the table.  | STEP 6: Place the knife in the dark mug that is on the table. | END