Task: Grab knife, place into mug, place in sink for cleaning

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          2.25           0              180            0
   1  Ladle           1.805          1.698          -0.401         0              0              0              53
   2  Ladle           0.220          0.954          0.827          0              90             0              42
   3  ButterKnife     1.529          0.910          0.415          0              90             0              42
   4  DishSponge      1.77           0.069          1.636          0              270            0              60
   5  Spatula         0.963          0.775          -1.654         0              90             0              61
   6  Spatula         1.032          0.775          -1.654         0              90             0              61
   7  Egg             -0.741         1.718          -1.664         0              0              0              69
   8  Cup             -0.838         0.748          -1.664         0              0              0              69
   9  Cup             -0.790         0.458          -1.670         0              0              0              69
  10  Plate           1.805          1.634          -0.901         0              0              0              54
  11  Plate           1.726          0.912          -1.374         0              90             0              46
  12  SoapBottle      1.733          2.135          0.880          0              0              0              50
  13  SoapBottle      1.736          1.637          0.543          0              0              0              51
  14  Tomato          1.501          0.974          1.092          0              90             0              42
  15  SaltShaker      1.935          0.906          -1.717         0              90             0              46
  16  PepperShaker    1.796          0.906          -1.545         0              90             0              46
  17  Bread           1.757          0.987          1.269          0              90             0              42
  18  Apple           1.77           0.127          1.779          0              270            0              60
  19  Apple           1.245          0.967          0.827          0              90             0              42
  20  Plate           1.802          1.647          -0.000         0              0              0              52
  21  SoapBottle      0.220          0.908          1.004          0              90             0              42
  22  Cup             0.061          0.909          -1.263         0              90             0              46
  23  Egg             1.101          0.795          -1.654         0              0              0              61
  24  Fork            1.684          0.911          0.467          0              90             0              42
  25  Ladle           1.757          0.954          1.004          0              90             0              42
  26  Apple           -0.692         1.446          -1.524         0              0              0              69
  27  SaltShaker      1.770          1.628          -1.119         0              0              0              54
  28  Pan             1.543          0.909          -0.320         0              90             0              45
  29  Tomato          -0.741         0.524          -1.412         0              0              0              69
  30  Spatula         1.245          0.925          0.915          0              90             0              42
  31  Potato          1.803          1.055          -0.888         0              270            0              66
  32  Knife           1.656          0.943          -1.717         0              90             0              46
  33  ButterKnife     0.296          0.9            -1.296         0              14.568         0              46
  34  Bread           1.615          0.977          0.761          0              50.525         0              42
  35  Lettuce         0.476          1.010          1.180          0              90             0              42
  36  PepperShaker    1.740          2.131          1.121          0              0              0              49
  37  Pot             1.548          0.909          0.075          0              180            0              48
  38  DishSponge      1.844          1.638          0.431          0              0              0              51
  39  Spoon           0.988          0.911          1.004          0              90             0              42
  40  Bowl            0.193          0.900          1.170          0              0              0              42
  41  Mug             0.502          0.940          -1.460         0              0              0              68
  42  CounterTop      0.989          0.946          1.016          0              90             0
  43  StoveBurner     1.807          0.907          0.075          0              180            0
  44  StoveBurner     1.807          0.907          -0.320         0              180            0
  45  StoveBurner     1.543          0.907          -0.320         0              90             0
  46  CounterTop      0.989          0.946          -1.516         0              90             0
  47  Sink            1.100          0.906          -1.599         0              0              0
  48  StoveBurner     1.548          0.907          0.075          0              180            0
  49  Cabinet         1.658          2.299          1.313          0              0              0
  50  Cabinet         1.658          2.299          0.686          0              0              0
  51  Cabinet         1.658          2.049          0.673          0              0              0
  52  Cabinet         1.658          2.059          0.193          0              0              0
  53  Cabinet         1.658          2.059          -0.593         0              0              0
  54  Cabinet         1.658          2.049          -0.606         0              0              0
  55  Cabinet         1.658          2.049          -1.206         0              0              0
  56  Cabinet         1.658          2.049          -1.893         0              0              0
  57  Toaster         0.131          0.900          -1.589         0              0              0
  58  Window          -0.372         1.588          3.349          90             0              0
  59  Window          0.782          1.741          -1.893         90             0              0
  60  GarbageCan      1.770          -0.029         1.685          0              270            0
  61  SinkBasin       1.091          0.740          -1.599         0              0              0
  62  StoveKnob       1.364          0.821          0.086          48.421         270            0
  63  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  65  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  66  Microwave       1.752          0.900          -0.843         0              270            0
  67  LightSwitch     2.0            1.261          3.094          0              270            0
  68  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  69  Fridge          -0.533         0.0            -1.554         0              0              0
  70  Chair           1.068          0.000          1.752          0              191.622        0
  71  Faucet          1.110          1.138          -1.764         0              270            0
  72  Chair           0.357          0.000          1.710          0              178.899        0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Go right towards doorway, turn left. | STEP 2: Walk towards fridge, turn left, turn right. | STEP 3: Walk towards sink in front of window. | STEP 4: Grab knife out of sink. | STEP 5: Turn right, turn left with knife. | STEP 6: Grab coffee mug, place knife into mug. | STEP 7: Turn right, place mug with knife into sink for cleaning. | END