Task: Put a mug with a knife in it on a dining 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            0.900          -0.25          0              270            0
   1  Potato          0.447          0.806          -1.552         0              270            0              74
   2  Potato          -2.135         1.522          -1.849         0              0              0              81
   3  Spoon           0.649          0.920          -1.649         0              270            0              49
   4  Spatula         -0.267         0.927          -1.820         0              0              0              51
   5  Egg             -2.614         0.987          0.345          0              90             0              84
   6  Egg             -0.175         0.947          -1.489         0              0              0              51
   7  Cup             0.300          0.910          0.292          0              0              0              50
   8  Plate           -2.222         0.512          -1.806         0              0              0              81
   9  Plate           1.535          1.329          -1.809         0              180            0              67
  10  Knife           0.804          0.944          -1.649         0              90             0              49
  11  Tomato          -0.329         0.119          0.482          0              90             0              80
  12  Bowl            -0.028         0.105          0.281          0              0              0              61
  13  Bowl            0.035          0.911          0.375          0              0              0              50
  14  SaltShaker      1.785          0.908          0.706          0              0              0              66
  15  SaltShaker      -2.614         0.948          0.524          0              90             0              84
  16  PepperShaker    -2.340         0.948          0.255          0              90             0              84
  17  Bread           -2.135         1.134          -1.763         0              0              0              81
  18  Lettuce         1.846          1.002          0.540          0              0              0              66
  19  Mug             0.167          0.907          0.540          0              0              0              50
  20  Apple           -2.203         1.019          0.345          0              90             0              84
  21  Apple           0.341          0.850          -1.648         0              270            0              74
  22  Bread           1.299          0.978          -1.532         0              0              0              51
  23  Knife           -2.203         0.977          0.435          0              0              0              84
  24  Fork            -2.340         0.952          0.614          0              90             0              84
  25  Bowl            0.209          0.108          -1.509         0              180            0              48
  26  Kettle          -0.055         0.9            0.643          0              0              0              50
  27  Cup             0.564          0.910          0.292          0              0              0              50
  28  Tomato          -1.928         1.001          0.435          0              90             0              84
  29  SoapBottle      -2.614         0.950          0.614          0              90             0              84
  30  Plate           -2.047         0.781          -1.806         0              0              0              81
  31  Pot             1.007          0.962          0.561          0              270            0              53
  32  Spatula         -2.340         0.967          0.165          0              180            0              84
  33  PaperTowelRoll  0.432          1.016          0.292          0              0              0              50
  34  Egg             -2.614         0.987          0.165          0              90             0              84
  35  Lettuce         1.658          1.002          -1.820         0              0              0              51
  36  SaltShaker      1.724          0.908          0.623          0              0              0              66
  37  PepperShaker    -2.614         0.948          0.255          0              90             0              84
  38  Apple           -1.959         1.559          -1.806         0              0              0              81
  39  ButterKnife     0.167          0.912          0.209          0              0              0              50
  40  Potato          -2.477         0.982          0.165          0              90             0              84
  41  Pan             1.361          0.962          0.561          0              270            0              56
  42  DishSponge      0.387          0.109          0.346          0              0              0              62
  43  Spoon           -1.791         0.953          0.524          0              90             0              84
  44  Mug             0.618          0.945          0.469          0              180            0              75
  45  Cabinet         -0.193         1.688          -1.648         0              180            0
  46  StoveBurner     1.360          0.957          0.293          0              180            0
  47  Drawer          0.499          0.792          0.296          0              0              0
  48  Cabinet         0.095          0.400          -1.352         0              180            0
  49  Sink            0.711          0.817          -1.772         0              270            0
  50  CounterTop      0.280          0.947          0.458          0              0              0
  51  CounterTop      -0.680         0.947          -1.654         0              0              0
  52  Drawer          1.825          0.792          0.296          0              0              0
  53  StoveBurner     1.007          0.957          0.561          0              270            0
  54  Drawer          -0.150         0.792          -1.496         0              0              0
  55  Drawer          -0.586         0.792          -1.496         0              0              0
  56  StoveBurner     1.360          0.957          0.561          0              270            0
  57  Drawer          0.024          0.792          0.296          0              0              0
  58  Cabinet         1.079          0.400          -1.349         0              180            0
  59  Cabinet         1.669          0.402          0.151          0              0              0
  60  Cabinet         0.055          0.402          -1.351         0              0              0
  61  Cabinet         -0.180         0.402          0.151          0              0              0
  62  Cabinet         0.729          0.402          0.151          0              0              0
  63  StoveBurner     1.007          0.957          0.293          0              180            0
  64  Drawer          -1.100         0.792          -1.496         0              0              0
  65  Cabinet         -0.396         0.402          -1.351         0              0              0
  66  CounterTop      1.776          0.947          0.458          0              0              0
  67  Cabinet         1.974          1.688          -1.648         0              180            0
  68  Cabinet         -0.820         0.400          -1.349         0              180            0
  69  Toaster         0.305          0.900          0.552          0              180            0
  70  LightSwitch     -2.756         1.307          -0.987         0              90             0
  71  Window          0.582          1.613          -1.967         90             0              0
  72  Window          1.969          1.5            -0.615         90             270            0
  73  Microwave       -1.037         0.900          -1.723         0              0              0
  74  SinkBasin       0.377          0.765          -1.655         0              270            0
  75  CoffeeMachine   0.618          0.900          0.600          0              180            0
  76  StoveKnob       1.246          0.913          0.118          45             180            0
  77  StoveKnob       1.373          0.913          0.118          45             180            0
  78  StoveKnob       0.995          0.913          0.118          45             180            0
  79  StoveKnob       1.126          0.913          0.118          45             180            0
  80  GarbageCan      -0.368         -0.029         0.539          0              90             0
  81  Fridge          -2.134         0.0            -1.690         0              0              0
  82  Faucet          0.549          1.046          -1.833         0              232.527        0
  83  Stool           -1.475         0.000          0.414          1.233          280.375        0
  84  DiningTable     -2.255         -0.004         0.432          0              0              0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Walk forward slightly and turn right towards the coffee machine. | STEP 2: Pick up the black mug from the coffee machine. | STEP 3: Turn left and walk forward to the door, then turn right towards the dining table. | STEP 4: Put the mug on the dining table, to the right of the spatula. | STEP 5: Pick up the large knife behind the apple on the table. | STEP 6: Put the knife in the black mug. | END