Task: Put a mug containing a 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           -1.0           0.900          1.0            0              270            0
   1  Potato          -3.373         1.317          3.061          0              90             0              62
   2  Ladle           -0.785         1.086          3.266          0              90             0              45
   3  Ladle           -0.538         1.087          1.920          0              0              0              45
   4  ButterKnife     -2.388         1.124          0.379          0              0              0              55
   5  ButterKnife     -0.715         1.124          0.387          0              0              0              57
   6  Fork            -0.662         1.047          2.369          0              0              0              45
   7  Fork            -1.465         0.932          0.567          0              0              0              67
   8  Spoon           -2.388         1.126          0.473          0              0              0              55
   9  Egg             -1.642         0.961          0.221          0              0              0              67
  10  Egg             -3.284         0.759          3.132          0              90             0              62
  11  Knife           -1.465         0.963          0.428          0              0              0              67
  12  Knife           -2.011         1.157          0.190          0              0              0              55
  13  Tomato          -0.785         1.088          2.593          0              0              0              45
  14  Tomato          -3.696         0.153          1.978          0              0              0              66
  15  SaltShaker      -2.509         0.899          0.578          0              0              0              54
  16  Lettuce         -0.662         1.125          3.266          0              0              0              45
  17  Mug             -0.168         1.042          2.144          0              0              0              45
  18  Fork            -2.042         0.096          0.579          0              0              0              47
  19  SoapBottle      -0.883         1.125          0.569          0              0              0              57
  20  Pot             -3.475         1.133          0.48           0              90             0              43
  21  Ladle           -0.715         1.164          0.659          0              0              0              57
  22  Potato          -3.593         0.142          2.068          0              0              0              66
  23  Plate           -1.522         0.047          0.608          0              0              0              60
  24  Bread           -0.908         1.134          3.042          0              0              0              45
  25  Lettuce         -3.339         0.969          3.081          0              228.265        312.447        62
  26  Spatula         -0.168         1.062          1.920          0              0              0              45
  27  Pan             -3.000         1.133          0.480          0              270            0              50
  28  Egg             -0.415         1.258          0.475          0              0              0              68
  29  Cup             -1.116         0.047          0.608          0              0              0              49
  30  SaltShaker      -2.042         0.483          0.579          0              0              0              46
  31  Knife           -0.415         1.080          2.593          0              0              0              45
  32  Bowl            -3.572         1.284          2.991          0              90             0              62
  33  PepperShaker    -2.403         0.483          0.579          0              0              0              46
  34  ButterKnife     -0.785         1.048          3.042          0              0              0              45
  35  Apple           -0.662         1.114          2.817          0              90             0              45
  36  Tomato          -0.785         1.087          2.817          0              0              0              45
  37  DishSponge      -2.592         0.094          0.613          0              0              0              48
  38  Spoon           -2.356         0.096          0.545          0              90             0              48
  39  Mug             -3.44          1.555          3.132          0              90             0              62
  40  StoveKnob       -3.322         1.053          0.709          45             0              0
  41  StoveBurner     -3.474         1.097          0.227          0              180            0
  42  Sink            -1.394         0.982          0.439          0              0              0
  43  StoveBurner     -3.474         1.097          0.479          0              180            0
  44  StoveKnob       -3.164         1.053          0.709          45             0              0
  45  DiningTable     -0.620         0.017          2.486          0              0              0
  46  Drawer          -2.043         0.608          0.594          0              0              0
  47  Drawer          -2.043         0.216          0.594          0              0              0
  48  Drawer          -2.498         0.216          0.594          0              0              0
  49  Cabinet         -1.001         0.393          0.734          0              0              0
  50  StoveBurner     -3.000         1.097          0.480          0              0              0
  51  StoveKnob       -3.492         1.053          0.709          45             0              0
  52  CounterTop      -3.856         1.160          0.379          0              0              0
  53  Drawer          -2.043         0.937          0.599          0              0              0
  54  Drawer          -2.509         0.937          0.599          0              0              0
  55  CounterTop      -2.280         1.160          0.379          0              0              0
  56  StoveKnob       -2.985         1.053          0.709          45             0              0
  57  CounterTop      -0.514         1.160          0.492          0              0              0
  58  Drawer          -2.498         0.608          0.594          0              0              0
  59  StoveBurner     -3.000         1.097          0.227          0              0              0
  60  Cabinet         -1.733         0.393          0.734          0              0              0
  61  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  62  Fridge          -3.519         0.0            2.717          0              90             0
  63  Window          -1.394         1.924          0.014          90             0              0
  64  Window          -3.266         1.924          0.014          90             0              0
  65  Toaster         -0.225         1.038          2.865          0              270            0
  66  GarbageCan      -3.696         0.002          2.008          0              0              0
  67  SinkBasin       -1.389         0.921          0.428          0              0              0
  68  Microwave       -0.366         1.113          0.430          0              0              0
  69  HousePlant      -2.155         1.101          0.169          0              332.897        0
  70  LightSwitch     -2.584         1.299          3.5            0              180            0
  71  Faucet          -1.393         1.373          0.168          0              270            0
  72  NorthWall
  73  SouthWall
  74  SouthWall

Plan:
STEP 1: Go forward to the counter between the sink and stove on the left.  | STEP 2: Pick up the butter knife that is on the counter. | STEP 3: Turn to the left, go to the wall, hang a left and go to the table.  | STEP 4: Put the knife inside the coffee mug that is on the table. | STEP 5: Pick up the coffee mug from the table. | STEP 6: Turn to the left, go forward to the sink that is on the left.  | STEP 7: Put the mug into the sink. | END