Task: Put a mug with knife on the counter, in front of the toaster.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          2.0            0              180            0
   1  Potato          -1.438         1.212          -0.599         0              90             0              72
   2  Ladle           1.909          1.702          -1.608         0              270            0              54
   3  DishSponge      -1.254         2.147          -0.983         0              90             0              48
   4  ButterKnife     0.408          0.926          0.534          0              0              0              81
   5  WineBottle      -0.616         0.914          -2.134         0              0              0              64
   6  WineBottle      0.408          0.931          0.991          0              0              0              81
   7  Spoon           0.294          0.920          1.448          0              0              0              81
   8  Egg             2.001          0.140          0.006          0              0              0              65
   9  Plate           0.294          0.930          0.762          0              0              0              81
  10  Knife           0.119          0.936          -1.750         0              0              0              64
  11  Tomato          1.958          0.138          0.121          0              0              0              65
  12  Tomato          0.522          0.982          0.762          0              0              0              81
  13  SoapBottle      1.362          0.879          2.537          0              0              0              90
  14  Lettuce         1.828          0.994          -1.446         0              0              0              64
  15  PepperShaker    -1.036         0.909          -2.224         0              0              0              64
  16  PepperShaker    1.557          0.909          -1.095         0              0              0              64
  17  Bread           1.850          0.958          -2.002         0              0              0              64
  18  Bread           -0.047         0.972          0.762          0              0              0              81
  19  Mug             -1.533         1.499          -0.910         0              90             0              72
  20  Mug             -1.495         1.178          -0.910         0              90             0              72
  21  Mug             0.294          0.921          0.991          0              0              0              81
  22  Apple           1.829          0.157          0.083          0              0              0              65
  23  Potato          -1.252         1.044          -1.846         0              90             0              70
  24  Bowl            0.066          0.927          0.076          0              0              0              81
  25  SoapBottle      -0.346         0.912          -1.725         0              0              0              64
  26  Fork            0.454          0.901          -1.886         0              0              0              64
  27  Ladle           0.481          0.948          1.418          353.103        0              346.831        81
  28  Bread           0.399          0.964          0.110          0              0              1.601          81
  29  Lettuce         0.180          1.011          1.220          0              0              0              81
  30  WineBottle      -0.668         0.914          -2.267         0              0              0              64
  31  Spatula         0.180          0.945          0.305          0              90             0              81
  32  Plate           1.572          0.123          -1.397         0              270            0              58
  33  SaltShaker      2.025          1.654          -1.117         0              270            0              55
  34  Pot             -1.495         0.857          -0.599         0              0              0              72
  35  Cup             1.590          1.660          -2.238         0              0              0              51
  36  PepperShaker    1.255          0.549          2.431          0              0              0              84
  37  Pan             1.824          0.945          -0.346         0              0              0              45
  38  ButterKnife     0.522          0.926          1.448          0              90             0              81
  39  Tomato          0.066          0.982          0.305          0              0              0              81
  40  DishSponge      -0.160         0.930          1.220          0              0              0              81
  41  Egg             -1.610         1.558          -0.806         0              90             0              72
  42  Spoon           -0.064         0.765          -2.071         0              0              0              76
  43  Knife           1.605          0.906          -1.583         270            225            0              64
  44  Mug             -0.283         0.759          -1.936         0              0              0              76
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Head around the island to the left, turn right to face the knife on the island. | STEP 2: Pick up the knife on the island.  | STEP 3: Turn left, bring the knife to the sink.  | STEP 4: Put the knife in the mug in the sink. | STEP 5: Pick up the mug with knife in the sink.  | STEP 6: Turn left, bring the mug over to the toaster, turn right to face the toaster on the counter.  | STEP 7: Put the mug with knife on the counter, in front of the toaster.  | END