Task: Put a mug with a knife in it on a small table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.869          -3.25          0              90             0
   1  Pan             0.746          1.373          -2.113         0              180            0              61
   2  Potato          1.025          0.916          -0.913         0              0              0              41
   3  DishSponge      0.994          1.463          -0.022         0              0              0              52
   4  DishSponge      0.949          1.463          0.411          0              0              0              53
   5  Spatula         0.672          0.787          -0.570         0              180            0              64
   6  Spoon           0.671          0.761          0.002          0              0              0              40
   7  Fork            0.720          0.761          0.002          0              270            0              40
   8  Pot             -2.097         0.930          0.785          0              0              0              43
   9  Egg             0.841          0.809          -0.735         0              270            0              64
  10  Egg             0.961          0.701          0.448          0              0              0              46
  11  Cup             0.601          0.663          0.630          0              0              0              46
  12  SoapBottle      0.661          0.664          0.448          0              0              0              46
  13  SoapBottle      -1.578         0.695          -3.529         0              0              0              68
  14  PepperShaker    0.950          0.879          -0.108         0              0              0              41
  15  PepperShaker    0.566          0.012          -0.250         0              0              0              51
  16  Bread           0.149          0.944          1.101          0              270            0              67
  17  Mug             -0.252         0.895          0.843          0              270            0              67
  18  Apple           0.841          0.718          0.448          0              0              0              46
  19  Pot             -1.552         0.930          0.785          0              0              0              45
  20  Plate           0.787          0.019          -0.184         0              0              0              51
  21  Fork            0.781          0.665          0.448          0              0              0              46
  22  SoapBottle      -1.803         0.701          -1.524         0              0              0              77
  23  Apple           -1.261         0.105          -3.574         0              270            0              56
  24  Pan             0.740          -0.007         -0.596         0              0              0              44
  25  Egg             0.950          0.920          0.029          0              0              0              41
  26  Spatula         0.574          0.774          -0.124         0              270            0              40
  27  Potato          0.961          0.698          0.630          0              0              0              46
  28  Cup             0.669          0.663          -2.190         0              270            0              61
  29  SaltShaker      0.961          0.661          0.265          0              0              0              46
  30  PepperShaker    0.601          0.661          0.326          0              0              0              46
  31  ButterKnife     0.757          0.772          -0.625         0              270            0              64
  32  DishSponge      0.757          0.772          -0.790         0              270            0              64
  33  Bread           -0.873         0.931          0.978          0              24.231         0              67
  34  Lettuce         0.655          0.970          -0.039         0              0              0              41
  35  Tomato          -1.260         0.100          -3.684         0              270            0              56
  36  Spoon           -0.453         0.901          0.843          0              270            0              67
  37  Knife           0.950          0.906          -0.176         0              0              0              41
  38  Mug             0.858          1.458          -0.022         0              0              0              52
  39  Bowl            -2.038         0.691          -1.003         0              0              0              77
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Go to the sink | STEP 2: Pick up a knife | STEP 3: Go to the white table | STEP 4: Put the knife in a mug | STEP 5: Pick up the mug | STEP 6: Go to the small black table | STEP 7: Put the mug down on the black table | END