Task: Place a knife in the mug on top of 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           1.0            0.901          1.5            0              0              0
   1  Potato          2.168          1.363          -0.097         0              270            0              75
   2  Potato          1.994          0.978          0.361          0              90             0              65
   3  WineBottle      -0.042         0.791          1.217          0              0              0              81
   4  DishSponge      2.148          0.937          0.361          0              0              0              65
   5  Spatula         1.170          0.810          2.750          0              270            0              78
   6  Spoon           0.002          0.747          1.993          0              0              0              53
   7  Cup             -0.362         1.034          2.121          0              90             0              79
   8  Plate           1.925          0.086          1.986          0              0              0              50
   9  Knife           2.301          0.963          0.435          0              90             0              65
  10  Knife           -0.119         0.816          0.545          0              270            0              81
  11  Knife           1.917          0.963          0.509          0              90             0              65
  12  SoapBottle      -0.042         0.791          0.545          0              0              0              81
  13  SoapBottle      0.033          0.791          0.881          0              0              0              81
  14  Bowl            2.241          1.500          0.725          0              0              0              62
  15  Bowl            2.206          1.498          2.469          0              0              0              47
  16  PepperShaker    1.840          0.933          0.361          0              0              0              65
  17  PepperShaker    0.033          0.785          0.377          0              0              0              81
  18  Mug             2.231          1.514          -0.188         0              270            0              75
  19  Mug             1.156          0.076          2.601          0              0              0              60
  20  Mug             2.064          0.989          2.462          0              225            0              80
  21  Apple           1.945          1.373          -0.007         0              270            0              75
  22  Apple           2.024          1.569          -0.369         0              270            0              75
  23  Egg             -0.349         0.833          0.377          0              0              0              81
  24  Lettuce         2.000          1.383          -0.188         0              270            0              75
  25  Fork            1.802          0.747          0.652          0              90             0              63
  26  SoapBottle      -0.425         0.791          0.713          0              0              0              81
  27  Ladle           -0.103         0.790          2.197          0              270            0              53
  28  Ladle           -0.096         0.942          2.546          6.888          45             340.409        54
  29  Bread           -0.199         0.823          0.813          0              0              0              81
  30  SaltShaker      -0.042         0.785          0.713          0              0              0              81
  31  Potato          2.074          0.977          2.260          0              90             0              54
  32  Pan             2.140          0.935          1.504          0              180            0              49
  33  WineBottle      2.304          0.938          2.260          0              0              0              54
  34  Spatula         -0.272         0.805          1.217          0              90             0              81
  35  Knife           0.033          0.816          0.713          0              270            0              81
  36  Tomato          2.122          0.648          -0.278         0              270            0              75
  37  Apple           -0.272         0.987          2.504          0              0              0              54
  38  ButterKnife     -0.119         0.791          1.386          0              0              0              81
  39  Pot             1.854          0.937          1.497          0              0              0              58
  40  PepperShaker    -0.282         0.932          2.618          0              0              0              54
  41  Cup             0.034          0.935          2.425          0              0              0              54
  42  DishSponge      -0.425         0.790          1.049          0              0              0              81
  43  Plate           -0.312         0.781          0.409          0              0              0              81
  44  Spoon           -0.042         0.792          0.377          0              0              0              81
  45  Mug             2.127          1.514          -0.550         0              270            0              75
  46  Bowl            -0.282         0.934          2.827          0              0              0              54
  47  Cabinet         2.041          2.113          2.618          0              0              0
  48  Cabinet         0.126          0.388          1.774          0              0              0
  49  StoveBurner     2.140          0.929          1.504          0              180            0
  50  Cabinet         1.760          0.388          2.346          0              0              0
  51  Cabinet         1.760          0.388          0.869          0              0              0
  52  Cabinet         2.041          1.810          0.283          0              0              0
  53  Drawer          -0.024         0.774          2.061          0              0              0
  54  CounterTop      1.065          0.973          2.666          0              0              0
  55  Cabinet         1.969          2.113          2.618          0              0              0
  56  StoveBurner     2.140          0.929          1.106          0              0              0
  57  Cabinet         2.041          2.113          1.809          0              0              0
  58  StoveBurner     1.866          0.929          1.504          0              180            0
  59  Cabinet         2.041          2.113          1.766          0              0              0
  60  Cabinet         1.514          0.388          2.360          0              0              0
  61  Cabinet         0.351          0.388          2.360          0              0              0
  62  Cabinet         2.041          1.810          0.872          0              0              0
  63  Drawer          2.167          0.774          0.582          0              0              0
  64  Cabinet         2.041          2.113          0.892          0              0              0
  65  CounterTop      2.060          0.973          0.583          0              0              0
  66  Sink            0.935          0.936          2.646          0              0              0
  67  Curtains        0.964          2.061          2.989          0              0              0
  68  StoveBurner     1.863          0.929          1.106          0              0              0
  69  Drawer          1.911          0.774          2.060          0              0              0
  70  StoveKnob       2.326          1.092          1.610          288.013        90             0
  71  StoveKnob       2.326          1.092          1.460          288.013        90             0
  72  StoveKnob       2.326          1.092          1.210          288.013        90             0
  73  StoveKnob       2.326          1.092          1.050          288.013        90             0
  74  Toaster         2.126          0.926          0.572          0              270            0
  75  Fridge          2.104          0.0            -0.279         0              270            0
  76  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  77  LightSwitch     0.354          1.518          -1.031         0              0              0
  78  SinkBasin       0.903          0.784          2.640          0              0              0
  79  Microwave       -0.310         0.926          2.077          0              90             0
  80  CoffeeMachine   2.084          0.927          2.667          0              225            0
  81  DiningTable     -0.153         -0.000         1.073          0              270            0
  82  Faucet          1.175          0.926          2.950          270            90             0
  83  Faucet          0.686          0.926          2.950          270            90             0
  84  Chair           -0.077         0.002          0.196          0              15.000         0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Move to the cupboard underneath the right kitchen sink basin | STEP 2: Open the cupboard and pick up the mug inside of the cupboard, shut the cupboard | STEP 3: Carry the mug over to the white dining table  | STEP 4: Place the mug on top of the table to the right of the pump bottle | STEP 5: Pick up the knife with the yellow handle on top of the table | STEP 6: Place the knife in the mug | END