Task: Put the mug with knife on the shelf

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          -2.25          0              0              0
   1  Potato          -2.761         0.926          -0.204         0              270            0              82
   2  DishSponge      -0.136         1.941          -0.500         0              0              0              52
   3  ButterKnife     -2.359         0.894          -0.462         0              270            0              82
   4  ButterKnife     -4.064         0.760          -3.466         0              244.125        0              81
   5  Pot             -0.222         0.961          -1.845         0              180            0              47
   6  Spoon           -3.429         0.761          -3.572         0              334.125        0              81
   7  Spoon           -0.236         0.942          -1.319         0              0              0              63
   8  Spatula         -3.890         0.775          -3.716         0              199.125        0              81
   9  Spatula         -3.460         0.775          -3.048         0              19.125         0              81
  10  Egg             -3.882         0.731          -0.309         0              0              0              80
  11  Egg             -0.552         0.982          -1.581         0              0              0              63
  12  Cup             -3.822         0.760          -2.904         0              334.125        0              81
  13  Plate           -0.359         1.502          -0.646         0              270            0              75
  14  Plate           -3.565         0.908          -0.290         0              270            0              82
  15  Tomato          -1.248         0.993          -3.908         0              0              0              45
  16  Tomato          -3.942         0.741          -0.430         0              0              0              80
  17  Bread           -3.665         0.841          -3.515         0              334.125        0              81
  18  Bread           -3.364         0.976          -0.633         0              270            0              82
  19  SaltShaker      -2.139         0.938          -3.439         0              0              0              45
  20  PepperShaker    -0.475         0.747          -2.685         0              0              0              50
  21  Mug             -0.201         1.570          -1.990         0              270            0              77
  22  Mug             -3.309         0.755          -3.362         0              109.125        0              81
  23  Mug             -2.514         0.972          -3.649         0              0              0              71
  24  SoapBottle      -3.893         0.758          -3.160         0              109.125        0              81
  25  Pot             -3.163         0.895          -0.290         0              270            0              82
  26  Fork            -0.473         0.941          -1.406         0              0              0              63
  27  Cup             -0.334         1.287          -0.646         0              270            0              75
  28  Tomato          -3.350         0.810          -3.480         0              109.125        0              81
  29  Pan             -0.217         0.958          -2.215         0              45             0              64
  30  Plate           -0.175         1.951          -1.055         0              0              0              53
  31  Bread           -4.182         0.771          -0.369         0              0              0              80
  32  Spatula         -4.122         0.705          -0.491         0              180            0              80
  33  Knife           -3.631         0.785          -3.155         0              334.125        0              81
  34  SaltShaker      -0.524         0.743          -1.450         0              0              0              49
  35  PepperShaker    -0.175         1.938          -0.606         0              0              0              52
  36  ButterKnife     -0.236         0.941          -1.494         0              0              0              63
  37  Apple           -0.359         1.550          -0.878         0              270            0              75
  38  DishSponge      -0.653         0.080          -3.260         0              45             0              59
  39  Potato          -0.252         1.318          -0.994         0              270            0              75
  40  Egg             -3.451         0.801          -3.239         0              334.125        0              81
  41  Spoon           -3.982         0.761          -3.635         0              244.125        0              81
  42  Lettuce         -1.100         1.017          -3.623         0              0              0              45
  43  Mug             -3.935         0.755          -2.959         0              334.125        0              81
  44  Bowl            -0.293         1.284          -0.878         0              180            0              75
  45  CounterTop      -1.937         0.977          -3.673         0              0              0
  46  StoveBurner     -0.437         0.924          -1.845         0              180            0
  47  StoveBurner     -0.222         0.924          -1.845         0              180            0
  48  StoveBurner     -0.437         0.924          -2.243         0              0              0
  49  Drawer          -0.500         0.779          -1.450         0              0              0
  50  Drawer          -0.481         0.777          -2.739         0              0              0
  51  Drawer          -1.154         0.782          -3.499         0              0              0
  52  Cabinet         -0.337         2.110          -0.390         0              0              0
  53  Cabinet         -0.337         2.110          -1.272         0              0              0
  54  Cabinet         -0.337         2.110          -1.631         0              0              0
  55  Cabinet         -0.337         2.110          -2.497         0              0              0
  56  Cabinet         -0.337         1.891          -1.286         0              0              0
  57  Cabinet         -0.346         1.891          -3.293         0              0              0
  58  Cabinet         -0.629         0.388          -2.513         0              0              0
  59  Cabinet         -0.633         0.388          -3.008         0              0              0
  60  Cabinet         -1.010         0.388          -3.368         0              0              0
  61  Cabinet         -0.629         0.388          -1.614         0              0              0
  62  Cabinet         -0.327         1.886          -2.513         0              0              0
  63  CounterTop      -0.326         0.976          -1.450         0              0              0
  64  StoveBurner     -0.222         0.924          -2.243         0              0              0
  65  Sink            -0.600         0.929          -3.388         0              0              0
  66  StoveKnob       -0.617         0.899          -1.833         315            90             180
  67  StoveKnob       -0.617         0.899          -2.129         315            90             180
  68  StoveKnob       -0.617         0.899          -2.289         315            90             180
  69  StoveKnob       -0.617         0.899          -1.975         315            90             180
  70  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  71  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  72  Window          -1.389         1.610          -4.113         90             0              0
  73  LightSwitch     -4.372         1.493          -1.031         0              90             0
  74  SinkBasin       -0.614         0.802          -3.384         0              315            0
  75  Fridge          -0.314         0.0            -0.646         0              0              0
  76  Toaster         -1.970         0.930          -3.763         0              0              0
  77  Microwave       -0.216         1.470          -2.054         0              270            0
  78  Blinds          -1.373         2.205          -3.961         0              0              0
  79  Faucet          -0.393         0.930          -3.614         270            225            0
  80  SideTable       -4.030         0.002          -0.301         0              185.034        0
  81  DiningTable     -3.586         0.000          -3.258         0              0              0
  82  DiningTable     -3.224         -0.003         -0.453         0              0              0
  83  Shelf           -4.030         0.259          -0.301         0              185.034        0
  84  Shelf           -4.030         0.489          -0.301         0              185.034        0
  85  EastWall
  86  EastWall
  87  SouthWall

Plan:
STEP 1: Turn left walk across the room and face the table beside the wall  | STEP 2: Pick up the bread knife on the table | STEP 3: Move a little further on the table | STEP 4: Put the bread knife in the mug | STEP 5: Pick up the mug on the table | STEP 6: Turn to your right then cross the room  head to the shelf on  your left | STEP 7: Put the mug with bread knife on the top shelf | END