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           1.5            0.900          2.5            0              270            0
   1  DishSponge      -0.360         1.027          1.632          0              0              0              55
   2  ButterKnife     2.570          0.764          3.614          0              329.999        0              53
   3  WineBottle      1.956          0.765          3.685          0              225            0              53
   4  WineBottle      2.599          0.765          4.495          0              0              0              53
   5  Glassbottle     2.737          0.033          -1.074         0              0              0              94
   6  Pot             1.836          1.027          -1.84          0              90             0              50
   7  Pot             1.761          1.027          -1.599         0              0              0              95
   8  Spatula         2.473          1.041          0.809          0              136.999        0              52
   9  Spatula         -0.544         1.042          0.416          0              0              0              55
  10  Spoon           2.959          1.028          -0.846         0              0              0              52
  11  Fork            2.276          0.765          3.895          0              270            0              53
  12  Egg             -1.187         1.071          1.427          0              0              0              55
  13  Cup             -0.794         1.026          0.416          0              0              0              55
  14  Cup             2.294          0.763          4.091          0              329.999        0              53
  15  Plate           2.706          1.027          -0.541         0              0              0              52
  16  Knife           2.239          0.789          4.484          0              329.999        0              53
  17  Tomato          -0.877         1.495          -0.627         0              90             0              96
  18  SaltShaker      2.686          1.777          -1.872         0              0              0              91
  19  SaltShaker      -0.987         2.286          -0.614         0              0              0              84
  20  PepperShaker    2.487          0.760          4.203          0              329.999        0              53
  21  Bread           2.706          1.094          -0.236         0              0              0              52
  22  Bread           2.790          1.094          -1.151         0              0              0              52
  23  Apple           -0.544         1.077          2.311          0              0              0              55
  24  Pan             -0.539         0.045          1.954          0              90             0              81
  25  Glassbottle     2.614          1.027          1.499          0              136.999        0              52
  26  Knife           2.203          0.789          4.251          0              329.999        0              53
  27  SoapBottle      -0.794         1.026          1.943          0              0              0              55
  28  Egg             -1.059         1.486          -0.406         0              90             0              96
  29  Fork            2.706          1.027          -1.762         0              90             0              52
  30  Potato          -0.906         0.828          -0.405         0              90             0              96
  31  Ladle           2.299          1.066          1.205          0              136.999        0              52
  32  Tomato          -0.645         0.870          1.181          0              90             0              109
  33  Pot             2.116          1.027          -1.84          0              270            0              56
  34  WineBottle      2.959          1.027          -1.762         0              0              0              52
  35  Plate           2.376          0.764          3.445          0              0              0              53
  36  Spatula         -0.714         0.831          1.337          0              90             0              109
  37  PaperTowelRoll  2.086          0.868          3.815          0              225            0              53
  38  Lettuce         -0.851         0.874          1.259          0              90             0              109
  39  Apple           1.529          1.077          -1.881         0              90             0              52
  40  SaltShaker      1.926          0.760          3.821          0              270            0              53
  41  PepperShaker    2.673          0.760          4.32           0              0              0              53
  42  ButterKnife     1.170          1.026          -1.987         0              90             0              52
  43  Bread           2.525          0.832          3.97           0              0              0              53
  44  Cup             -0.983         1.779          2.485          0              0              0              90
  45  DishSponge      2.818          0.800          -1.178         0              0              0              60
  46  Bowl            1.638          1.025          1.704          0              136.999        0              52
  47  Spoon           2.801          0.765          3.821          0              270            0              53
  48  Mug             1.350          1.021          -1.560         0              90             0              52
  49  Sink            -0.716         1.023          1.333          0              0              0
  50  StoveBurner     1.835          1.018          -1.840         0              90             0
  51  StoveBurner     2.177          1.018          -1.599         0              0              0
  52  CounterTop      2.812          0.992          0.675          0              0              0
  53  DiningTable     2.419          0.003          3.930          0              0              0
  54  Drawer          -0.643         0.828          0.616          0              0              0
  55  CounterTop      -0.813         1.062          2.188          0              0              0
  56  StoveBurner     2.115          1.018          -1.840         0              270            0
  57  Drawer          -0.643         0.831          1.953          0              0              0
  58  Drawer          -0.643         0.833          2.418          0              0              0
  59  Drawer          1.347          0.836          -1.539         0              0              0
  60  Drawer          2.693          0.833          -1.131         0              0              0
  61  Drawer          2.693          0.833          -0.699         0              0              0
  62  Drawer          2.693          0.833          -0.267         0              0              0
  63  Drawer          2.693          0.833          0.163          0              0              0
  64  Drawer          2.524          0.833          0.720          0              2.000          0
  65  Drawer          2.232          0.833          1.036          0              2.000          0
  66  Drawer          1.936          0.833          1.354          0              2.000          0
  67  Drawer          1.646          0.833          1.670          0              2.000          0
  68  Cabinet         1.504          2.475          -1.710         0              0              0
  69  Cabinet         -0.823         2.220          1.621          0              0              0
  70  Cabinet         -0.823         2.220          0.615          0              0              0
  71  Cabinet         1.136          0.388          -1.355         0              0              0
  72  Cabinet         -0.356         0.383          2.626          0              0              0
  73  Cabinet         2.745          2.220          -1.690         0              0              0
  74  Cabinet         1.882          0.383          1.017          0              0              0
  75  Cabinet         1.307          0.473          1.640          0              0              0
  76  Cabinet         1.892          0.383          1.006          0              0              0
  77  Cabinet         2.467          0.383          0.383          0              0              0
  78  Cabinet         2.466          0.383          -0.475         0              0              0
  79  Cabinet         2.466          0.473          0.371          0              0              0
  80  Cabinet         2.386          2.475          -1.710         0              0              0
  81  Cabinet         -0.356         0.383          1.712          0              0              0
  82  Cabinet         2.745          2.220          0.019          0              0              0
  83  Cabinet         -0.663         2.496          0.157          0              0              0
  84  Cabinet         -0.663         2.496          -0.868         0              0              0
  85  Cabinet         -0.356         0.383          0.269          0              0              0
  86  Cabinet         -0.823         2.220          1.603          0              0              0
  87  Cabinet         -0.662         2.234          0.586          0              0              0
  88  Cabinet         2.745          2.220          -0.843         0              0              0
  89  Cabinet         2.745          2.220          -0.827         0              0              0
  90  Cabinet         -0.823         2.220          2.608          0              0              0
  91  Cabinet         2.732          2.226          -1.709         0              0              0
  92  Cabinet         1.137          2.226          -1.709         0              0              0
  93  Cabinet         2.466          0.383          -0.491         0              0              0
  94  Cabinet         2.466          0.383          -1.339         0              0              0
  95  StoveBurner     1.761          1.018          -1.599         0              0              0
  96  Fridge          -0.908         0.0            -0.405         0              0              0
  97  HousePlant      2.517          1.016          1.822          0              0              0
  98  Microwave       1.939          1.745          -1.826         0              0              0
  99  StoveKnob       2.017          1.041          -1.514         0              180            180
 100  StoveKnob       1.934          1.041          -1.514         0              180            180
 101  StoveKnob       2.017          1.041          -1.589         0              180            180
 102  StoveKnob       1.934          1.041          -1.589         0              180            180
 103  Window          1.756          1.608          4.762          90             0              0
 104  HousePlant      2.171          1.004          2.091          0              0              0
 105  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 106  LightSwitch     -0.099         1.410          -2.066         0              0              0
 107  GarbageCan      -0.951         -0.029         2.826          0              0              0
 108  Toaster         -1.007         1.018          2.238          0              90             0
 109  SinkBasin       -0.714         0.805          1.348          0              90             0
 110  Chair           1.615          0.004          4.310          0              107.976        0
 111  Faucet          -1.120         1.013          1.334          0              90             0
 112  Chair           2.759          0.004          3.086          0              358.967        0
 113
 114  NorthWall
 115  EastWall
 116  SouthWall
 117  WestWall

Plan:
STEP 1: turn to the left, move forward and turn to the right to face the white round table | STEP 2: pick up the sharp knife with the yellow handle from the table | STEP 3: turn around, move forward slightly and then turn left moving all the way across the room towards the door, turn to the left and face the counter | STEP 4: put the knife into the white coffee mug that is sitting on the counter | STEP 5: pick up the mug with the knife from the counter | STEP 6: turn right and move forward to the sink on the left, turn to the left and move to the sink | STEP 7: put the mug with the knife inside of it in to the sink | END