Task: Put the mug with knife in 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           1.25           0.901          1.75           0              90             0
   1  Potato          0.033          0.831          0.545          0              0              0              83
   2  Potato          -0.395         1.075          2.014          0              90             0              81
   3  WineBottle      -0.042         0.791          0.713          0              0              0              83
   4  DishSponge      1.906          0.746          0.652          0              0              0              65
   5  DishSponge      -0.425         0.790          0.713          0              0              0              83
   6  ButterKnife     -0.042         0.782          0.881          0              0              0              83
   7  Pot             0.708          0.081          2.523          0              90             0              63
   8  Spatula         0.002          0.761          2.197          0              270            0              55
   9  Spoon           -0.119         0.781          0.545          0              0              0              83
  10  Spoon           1.012          0.796          2.584          0              90             0              80
  11  Fork            -0.042         0.791          1.386          0              0              0              83
  12  Fork            -0.119         0.791          0.377          0              0              0              83
  13  Egg             -0.294         1.078          1.907          0              90             0              81
  14  Plate           1.925          0.086          1.986          0              0              0              52
  15  Knife           2.024          0.772          2.197          0              270            0              71
  16  SoapBottle      2.241          1.504          0.388          0              0              0              54
  17  SoapBottle      -0.425         0.791          0.881          0              270            0              83
  18  Bowl            -0.272         0.787          1.217          0              0              0              83
  19  PepperShaker    1.920          0.932          2.359          0              0              0              56
  20  PepperShaker    -0.349         0.785          0.881          0              0              0              83
  21  Lettuce         0.060          0.999          2.688          0              90             0              56
  22  Lettuce         2.127          1.580          -0.369         0              270            0              77
  23  Apple           2.079          0.652          -0.550         0              270            0              77
  24  Apple           -0.425         0.840          1.217          0              0              0              83
  25  Egg             2.137          0.903          -0.188         0              270            0              77
  26  Lettuce         2.000          1.385          -0.097         0              270            0              77
  27  Fork            0.682          0.795          2.64           0              90             0              80
  28  SoapBottle      -0.119         0.791          1.217          0              0              0              83
  29  Ladle           2.015          0.953          0.815          2.598          0              346.973        67
  30  Ladle           1.923          0.126          0.653          0              0              0              53
  31  Bread           -0.199         0.823          0.814          0              0              0              83
  32  SaltShaker      2.304          0.932          2.063          0              0              0              56
  33  Potato          -0.349         0.831          1.386          0              0              0              83
  34  Pan             2.140          0.935          1.504          0              180            0              51
  35  WineBottle      -0.196         0.791          1.049          0              0              0              83
  36  Spatula         1.850          0.760          1.991          0              90             0              71
  37  Knife           2.301          0.963          0.435          0              90             0              67
  38  Tomato          2.207          0.648          -0.550         0              270            0              77
  39  Apple           0.034          0.987          2.425          0              0              0              56
  40  ButterKnife     0.735          0.802          2.695          0              0              0              80
  41  Pot             1.854          0.937          1.497          0              0              0              60
  42  PepperShaker    2.320          1.496          2.010          0              270            0              59
  43  Cup             -0.078         0.079          1.993          0              0              0              50
  44  DishSponge      1.223          0.794          2.750          0              0              0              80
  45  Plate           -0.312         0.781          0.409          0              0              0              83
  46  Spoon           -0.042         0.792          1.217          0              180            0              83
  47  Mug             2.127          1.514          -0.007         0              270            0              77
  48  Bowl            2.076          1.515          -0.188         0              270            0              77
  49  Cabinet         2.041          2.113          2.618          0              0              0
  50  Cabinet         0.126          0.388          1.774          0              0              0
  51  StoveBurner     2.140          0.929          1.504          0              180            0
  52  Cabinet         1.760          0.388          2.346          0              0              0
  53  Cabinet         1.760          0.388          0.869          0              0              0
  54  Cabinet         2.041          1.810          0.283          0              0              0
  55  Drawer          -0.024         0.774          2.061          0              0              0
  56  CounterTop      1.065          0.973          2.666          0              0              0
  57  Cabinet         1.969          2.113          2.618          0              0              0
  58  StoveBurner     2.140          0.929          1.106          0              0              0
  59  Cabinet         2.041          2.113          1.809          0              0              0
  60  StoveBurner     1.866          0.929          1.504          0              180            0
  61  Cabinet         2.041          2.113          1.766          0              0              0
  62  Cabinet         1.514          0.388          2.360          0              0              0
  63  Cabinet         0.351          0.388          2.360          0              0              0
  64  Cabinet         2.041          1.810          0.872          0              0              0
  65  Drawer          2.167          0.774          0.582          0              0              0
  66  Cabinet         2.041          2.113          0.892          0              0              0
  67  CounterTop      2.060          0.973          0.583          0              0              0
  68  Sink            0.935          0.936          2.646          0              0              0
  69  Curtains        0.964          2.061          2.989          0              0              0
  70  StoveBurner     1.863          0.929          1.106          0              0              0
  71  Drawer          1.911          0.774          2.060          0              0              0
  72  StoveKnob       2.326          1.092          1.610          288.013        90             0
  73  StoveKnob       2.326          1.092          1.460          288.013        90             0
  74  StoveKnob       2.326          1.092          1.210          288.013        90             0
  75  StoveKnob       2.326          1.092          1.050          288.013        90             0
  76  Toaster         2.126          0.926          0.572          0              270            0
  77  Fridge          2.104          0.0            -0.279         0              270            0
  78  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  79  LightSwitch     0.354          1.518          -1.031         0              0              0
  80  SinkBasin       0.903          0.784          2.640          0              0              0
  81  Microwave       -0.310         0.926          2.077          0              90             0
  82  CoffeeMachine   2.084          0.927          2.667          0              225            0
  83  DiningTable     -0.153         -0.000         1.073          0              270            0
  84  Faucet          1.175          0.926          2.950          270            90             0
  85  Faucet          0.686          0.926          2.950          270            90             0
  86  Chair           -0.077         0.002          0.196          0              15.000         0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn to your left then move forward then face the left side of the sink on your right | STEP 2: Pick up the knife on the left side of the sink | STEP 3: Turn left head down to the cabinet below the microwave | STEP 4: Open the cabinet below the microwave | STEP 5: Put the knife in the cup at the cabinet, close the cabinet  | STEP 6: Turn around to your right go to the sink | STEP 7: Put the mug with knife in the right side of the sink | END