Task: Put a mug with a butter knife in it on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          1.75           0              180            0
   1  Ladle           1.850          0.957          -2.085         0              0              0              59
   2  DishSponge      -1.028         0.126          -1.463         0              90             0              54
   3  DishSponge      1.833          1.657          -1.608         0              270            0              49
   4  WineBottle      -1.238         1.660          -1.729         0              90             0              42
   5  WineBottle      -0.616         0.914          -2.134         0              0              0              59
   6  Spoon           0.408          0.931          0.076          0              180            0              76
   7  Fork            0.522          0.927          0.534          0              0              0              76
   8  Fork            0.294          0.927          0.076          0              0              0              76
   9  Egg             -0.720         0.967          -2.267         0              0              0              59
  10  Cup             -1.533         1.504          -1.013         0              90             0              67
  11  Cup             -1.036         0.913          -2.151         0              0              0              59
  12  SoapBottle      1.647          0.912          -1.212         0              0              0              59
  13  Bowl            -1.438         0.856          -0.495         0              90             0              67
  14  Lettuce         0.066          1.011          1.220          0              0              0              76
  15  PepperShaker    0.457          0.909          -2.085         0              0              0              59
  16  Bread           -0.047         0.972          0.762          0              0              0              76
  17  Apple           -1.495         1.575          -0.599         0              90             0              67
  18  Potato          -1.252         1.044          -1.638         0              90             0              65
  19  Bowl            0.294          0.923          0.305          0              0              0              76
  20  SoapBottle      0.180          0.929          0.991          0              0              0              76
  21  Fork            -0.064         0.765          -2.026         0              0              0              71
  22  Ladle           1.828          0.957          -1.446         0              0              0              59
  23  Bread           -1.495         1.228          -0.495         0              90             0              67
  24  Lettuce         -0.047         1.008          0.305          0              0              0              76
  25  WineBottle      0.522          0.927          0.762          0              0              0              76
  26  Spatula         1.919          0.928          -1.446         0              0              0              59
  27  Plate           1.462          0.556          2.534          0              0              0              79
  28  SaltShaker      2.025          1.654          -1.158         0              270            0              50
  29  Pot             1.567          0.948          -0.757         0              0              0              41
  30  Cup             -1.610         0.859          -0.910         0              90             0              67
  31  PepperShaker    1.464          0.877          2.429          0              0              0              85
  32  Pan             1.845          0.948          -0.355         0              0              0              40
  33  ButterKnife     0.294          0.926          0.991          0              0              0              76
  34  Tomato          -0.283         0.816          -2.071         0              0              0              71
  35  DishSponge      -0.617         0.111          -1.961         0              0              0              52
  36  Egg             2.001          0.140          0.006          0              0              0              60
  37  Spoon           1.919          0.914          -1.797         0              0              0              59
  38  Knife           0.180          0.953          0.762          0              0              0              76
  39  Mug             -0.160         0.925          0.076          0              0              0              76
  40  StoveBurner     1.845          0.940          -0.355         0              0              0
  41  StoveBurner     1.567          0.940          -0.757         0              0              0
  42  Cabinet         -1.149         2.019          -1.979         0              90             0
  43  Cabinet         -1.149         2.265          -0.834         0              90             0
  44  Cabinet         -0.459         2.265          -2.0           0              0              0
  45  Cabinet         -1.100         2.019          -2.0           0              0              0
  46  Cabinet         1.719          2.019          -2.0           0              0              0
  47  Cabinet         1.179          2.019          -2.0           0              0              0
  48  Cabinet         0.199          2.019          -2.0           0              0              0
  49  Cabinet         1.75           2.019          -1.399         0              270            0
  50  Cabinet         1.75           2.019          -1.029         0              270            0
  51  Cabinet         1.379          0.469          -1.689         0              0              0
  52  Cabinet         -0.819         0.469          -1.689         0              0              0
  53  Cabinet         1.389          0.469          -1.059         0              270            0
  54  Cabinet         -0.839         0.469          -1.665         0              90             0
  55  StoveBurner     1.567          0.940          -0.355         0              0              0
  56  StoveBurner     1.845          0.940          -0.757         0              0              0
  57  Sink            -0.109         0.893          -2.009         0              0              0
  58  Drawer          -0.819         0.75           -1.690         0              0              0
  59  CounterTop      0.232          0.949          -2.002         0              0              0
  60  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  61  Vase            0.251          0.546          0.475          0              270            0
  62  Toaster         0.780          0.900          -2.080         0              0              0
  63  LightSwitch     0.108          1.315          2.75           0              180            0
  64  Vase            0.400          0.925          0.218          0              180            0
  65  Microwave       -1.233         0.900          -1.680         0              90             0
  66  Vase            1.465          1.662          -2.200         0              0              0
  67  Fridge          -1.495         0.0            -0.703         0              0              0
  68  Window          2.114          1.495          1.072          90             270            0
  69  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  70  Vase            0.333          0.546          1.272          0              270            0
  71  SinkBasin       -0.148         0.753          -2.026         0              0              0
  72  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  73  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  74  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  76  DiningTable     0.170          0.005          0.678          0              270            0
  77  Shelf           0.170          0.155          0.678          0              270            0
  78  Shelf           1.605          0.172          2.480          0              0              0
  79  Shelf           1.605          0.552          2.480          0              0              0
  80  Shelf           1.604          0.880          2.479          0              0              0
  81  ShelvingUnit    1.605          0.006          2.480          0              0              0
  82  Faucet          -0.143         1.028          -2.223         0              270            0
  83  Stool           -0.553         0.000          0.871          1.233          280.376        0
  84  Shelf           0.170          0.528          0.678          0              270            0
  85
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Go straight towards the trash can, then turn right to go to the table. | STEP 2: Pick up the butter knife on the table, located in front of the soap. | STEP 3: Turn left, go straight, turn right to go around the table, go straight toward the fridge, turn right, move forward, then turn right to face the table. | STEP 4: Put the butter knife in the mug, on the table. | STEP 5: Pick up the mug from the table | STEP 6: Turn right, then go to the counter above the dishwasher. | STEP 7: Place the mug on the counter, in front of the toaster. | END