Task: put a mug with a knife in to the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          3.5            0              0              0
   1  Pan             2.859          1.026          1.447          0              136.999        0              49
   2  DishSponge      1.396          0.789          -1.459         0              0              0              56
   3  Glassbottle     2.191          0.765          3.710          0              225            0              50
   4  Glassbottle     2.976          0.765          3.747          0              270            0              50
   5  Spatula         2.376          0.779          4.495          0              0              0              50
   6  Spatula         2.595          0.816          -0.359         0              90             0              59
   7  Spoon           -0.731         0.801          0.696          0              0              0              51
   8  Fork            1.170          1.027          -1.774         0              90             0              49
   9  Egg             2.000          1.895          -1.809         0              0              0              95
  10  Cup             -0.645         0.815          1.103          0              90             0              106
  11  Plate           2.840          0.764          4.359          0              225            0              50
  12  Plate           -1.028         0.786          -0.627         0              90             0              93
  13  Knife           -0.645         0.841          1.181          0              0              0              106
  14  Tomato          2.959          1.080          -0.846         0              0              0              49
  15  SoapBottle      2.790          1.025          -0.236         0              0              0              49
  16  Bowl            -0.922         1.440          -0.627         0              90             0              93
  17  Bowl            2.788          1.025          1.102          0              136.999        0              49
  18  SaltShaker      2.578          1.023          0.907          0              136.999        0              49
  19  Lettuce         2.875          1.085          -1.762         0              0              0              49
  20  Lettuce         -0.956         0.135          2.811          0              0              0              104
  21  Pan             1.836          1.027          -1.84          0              90             0              47
  22  Glassbottle     -0.858         0.335          -0.073         0              90             0              93
  23  Knife           -0.544         1.052          0.600          0              0              0              52
  24  SoapBottle      2.228          0.763          4.145          0              0              0              50
  25  Egg             -0.669         1.071          2.556          0              0              0              52
  26  Fork            -0.794         1.028          1.821          0              0              0              52
  27  Potato          2.302          0.806          4.32           0              0              0              50
  28  Ladle           2.451          0.803          3.795          0              180            0              50
  29  Tomato          -0.577         0.870          1.492          0              90             0              106
  30  Pot             2.116          1.027          -1.84          0              270            0              53
  31  WineBottle      1.301          1.781          -1.911         0              0              0              89
  32  Plate           2.726          0.764          3.492          0              329.999        0              50
  33  Spatula         1.626          0.815          1.716          0              227.0          0              64
  34  PaperTowelRoll  2.218          0.868          3.422          0              225            0              50
  35  Lettuce         -0.851         0.874          1.259          0              90             0              106
  36  Apple           2.599          0.814          4.32           0              0              0              50
  37  SaltShaker      -0.868         1.776          2.543          0              0              0              87
  38  PepperShaker    2.683          0.760          4.517          0              225            0              50
  39  ButterKnife     2.650          0.802          -1.086         0              0              0              49
  40  Bread           -0.544         1.095          2.311          0              0              0              52
  41  Cup             -0.922         1.440          -0.184         0              90             0              93
  42  DishSponge      2.650          0.034          0.267          0              0              0              76
  43  Bowl            2.450          0.762          4.118          0              270            0              50
  44  Spoon           2.321          0.765          3.840          0              225            0              50
  45  Mug             2.100          0.759          3.895          0              270            0              50
  46  Sink            -0.716         1.023          1.333          0              0              0
  47  StoveBurner     1.835          1.018          -1.840         0              90             0
  48  StoveBurner     2.177          1.018          -1.599         0              0              0
  49  CounterTop      2.812          0.992          0.675          0              0              0
  50  DiningTable     2.419          0.003          3.930          0              0              0
  51  Drawer          -0.643         0.828          0.616          0              0              0
  52  CounterTop      -0.813         1.062          2.188          0              0              0
  53  StoveBurner     2.115          1.018          -1.840         0              270            0
  54  Drawer          -0.643         0.831          1.953          0              0              0
  55  Drawer          -0.643         0.833          2.418          0              0              0
  56  Drawer          1.347          0.836          -1.539         0              0              0
  57  Drawer          2.693          0.833          -1.131         0              0              0
  58  Drawer          2.693          0.833          -0.699         0              0              0
  59  Drawer          2.693          0.833          -0.267         0              0              0
  60  Drawer          2.693          0.833          0.163          0              0              0
  61  Drawer          2.524          0.833          0.720          0              2.000          0
  62  Drawer          2.232          0.833          1.036          0              2.000          0
  63  Drawer          1.936          0.833          1.354          0              2.000          0
  64  Drawer          1.646          0.833          1.670          0              2.000          0
  65  Cabinet         1.504          2.475          -1.710         0              0              0
  66  Cabinet         -0.823         2.220          1.621          0              0              0
  67  Cabinet         -0.823         2.220          0.615          0              0              0
  68  Cabinet         1.136          0.388          -1.355         0              0              0
  69  Cabinet         -0.356         0.383          2.626          0              0              0
  70  Cabinet         2.745          2.220          -1.690         0              0              0
  71  Cabinet         1.882          0.383          1.017          0              0              0
  72  Cabinet         1.307          0.473          1.640          0              0              0
  73  Cabinet         1.892          0.383          1.006          0              0              0
  74  Cabinet         2.467          0.383          0.383          0              0              0
  75  Cabinet         2.466          0.383          -0.475         0              0              0
  76  Cabinet         2.466          0.473          0.371          0              0              0
  77  Cabinet         2.386          2.475          -1.710         0              0              0
  78  Cabinet         -0.356         0.383          1.712          0              0              0
  79  Cabinet         2.745          2.220          0.019          0              0              0
  80  Cabinet         -0.663         2.496          0.157          0              0              0
  81  Cabinet         -0.663         2.496          -0.868         0              0              0
  82  Cabinet         -0.356         0.383          0.269          0              0              0
  83  Cabinet         -0.823         2.220          1.603          0              0              0
  84  Cabinet         -0.662         2.234          0.586          0              0              0
  85  Cabinet         2.745          2.220          -0.843         0              0              0
  86  Cabinet         2.745          2.220          -0.827         0              0              0
  87  Cabinet         -0.823         2.220          2.608          0              0              0
  88  Cabinet         2.732          2.226          -1.709         0              0              0
  89  Cabinet         1.137          2.226          -1.709         0              0              0
  90  Cabinet         2.466          0.383          -0.491         0              0              0
  91  Cabinet         2.466          0.383          -1.339         0              0              0
  92  StoveBurner     1.761          1.018          -1.599         0              0              0
  93  Fridge          -0.908         0.0            -0.405         0              0              0
  94  HousePlant      2.517          1.016          1.822          0              0              0
  95  Microwave       1.939          1.745          -1.826         0              0              0
  96  StoveKnob       2.017          1.041          -1.514         0              180            180
  97  StoveKnob       1.934          1.041          -1.514         0              180            180
  98  StoveKnob       2.017          1.041          -1.589         0              180            180
  99  StoveKnob       1.934          1.041          -1.589         0              180            180
 100  Window          1.756          1.608          4.762          90             0              0
 101  HousePlant      2.171          1.004          2.091          0              0              0
 102  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 103  LightSwitch     -0.099         1.410          -2.066         0              0              0
 104  GarbageCan      -0.951         -0.029         2.826          0              0              0
 105  Toaster         -1.007         1.018          2.238          0              90             0
 106  SinkBasin       -0.714         0.805          1.348          0              90             0
 107  Chair           1.615          0.004          4.310          0              107.976        0
 108  Faucet          -1.120         1.013          1.334          0              90             0
 109  Chair           2.759          0.004          3.086          0              358.967        0
 110
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: turn around and move forward to the sink on the right, turn and face the sink | STEP 2: pick up the sharp knife with the yellow handle from the sink | STEP 3: turn to the right and move forward across the kitchen and turn right at the round table, turn right and move forward to the table | STEP 4: put the knife into the white coffee mug that is on the table | STEP 5: pick up the mug with the knife inside of it | STEP 6: turn to the right and move forward back across the kitchen and turn right again to move to back to the sink | STEP 7: put the mug with the knife in to the sink to the right of the white cup that is in the sink | END