Task: Put a mug with a knife in it, 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           -1.5           0.899          4.75           0              180            0
   1  Potato          -0.181         0.958          4.615          0              0              0              60
   2  Potato          -4.411         0.956          4.640          0              90             0              75
   3  ButterKnife     -0.258         0.925          4.944          0              0              0              60
   4  ButterKnife     -0.488         0.925          4.615          0              0              0              60
   5  ButterKnife     -0.334         0.925          5.273          0              0              0              60
   6  WineBottle      -4.064         0.084          3.129          0              0              0              88
   7  WineBottle      -3.125         0.080          5.116          0              90             0              53
   8  Pot             -2.924         0.930          1.712          0              180            0              72
   9  Fork            -0.411         0.925          5.603          0              0              0              60
  10  Spoon           -4.196         0.792          3.347          0              270            0              107
  11  Spatula         -0.104         0.940          5.273          0              90             0              60
  12  SoapBottle      -4.128         0.080          3.510          0              0              0              80
  13  SoapBottle      -4.132         1.455          1.839          0              45             0              76
  14  Tomato          -3.859         0.980          1.648          0              0              0              75
  15  Tomato          -1.943         0.980          1.724          0              0              0              57
  16  Bowl            -0.301         1.332          3.479          0              270            0              108
  17  Bowl            -0.342         1.332          3.974          0              270            0              108
  18  SaltShaker      -0.201         2.130          5.169          0              180            0              64
  19  SaltShaker      -1.943         0.919          1.875          0              0              0              57
  20  PepperShaker    -3.193         1.456          5.440          0              90             0              61
  21  Lettuce         -4.196         0.886          3.410          0              270            0              107
  22  Mug             -0.301         1.575          3.530          0              270            0              108
  23  Mug             -2.530         1.541          1.698          0              0              0              105
  24  Apple           -0.334         0.978          4.615          0              0              0              60
  25  Egg             -0.259         1.721          3.854          0              270            0              108
  26  Apple           -4.451         0.976          2.533          0              0              0              75
  27  Knife           -4.108         0.953          4.122          0              90             0              75
  28  Potato          -0.348         1.104          3.479          0              270            0              108
  29  Fork            -4.411         0.924          5.159          0              90             0              75
  30  Bowl            -4.266         1.453          2.018          0              45             0              76
  31  Plate           -0.258         0.925          5.932          0              0              0              60
  32  Lettuce         -0.401         1.165          3.850          0              270            0              108
  33  Bread           -3.733         1.003          5.336          0              90             0              75
  34  Tomato          -0.258         0.982          5.273          0              0              0              60
  35  WineBottle      -3.712         0.069          6.457          0              270            0              101
  36  Spatula         -1.693         0.938          1.648          0              90             0              57
  37  PaperTowelRoll  -4.486         1.027          4.900          0              90             0              75
  38  Cup             -3.774         0.078          5.155          0              90             0              89
  39  Pencil          -4.335         0.923          3.863          0              90             0              75
  40  Pan             -2.454         0.933          2.023          0              240.000        0              63
  41  Pot             -2.469         0.930          1.712          0              270            0              90
  42  SaltShaker      -4.008         0.081          2.826          0              0              0              67
  43  SoapBottle      -2.026         0.923          2.026          0              0              0              57
  44  PepperShaker    -4.312         0.919          2.766          0              0              0              75
  45  ButterKnife     -0.488         0.925          4.944          0              0              0              60
  46  DishSponge      -4.067         0.080          3.419          0              0              0              80
  47  Spoon           -1.860         0.924          1.951          0              0              0              57
  48  Mug             -4.201         0.080          2.676          0              0              0              67
  49  Cabinet         -3.203         1.931          1.777          0              0              0
  50  Cabinet         -3.187         0.390          2.089          0              0              0
  51  Cabinet         -0.637         0.387          6.882          0              180            0
  52  Drawer          -3.797         0.781          1.961          0              0              0
  53  Cabinet         -3.036         0.387          5.029          0              90             0
  54  Drawer          -0.509         0.775          5.268          0              270            0
  55  Drawer          -4.125         0.798          2.499          0              0              0
  56  Cabinet         -0.331         2.249          4.308          0              180            0
  57  CounterTop      -1.872         0.958          1.799          0              0              0
  58  StoveBurner     -2.924         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          6.806          0              180            0
  60  CounterTop      -0.345         0.960          5.603          0              0              0
  61  Cabinet         -3.039         1.935          5.321          0              90             0
  62  Cabinet         -3.922         0.397          2.088          0              0              0
  63  StoveBurner     -2.467         0.924          2.012          0              0              0
  64  Cabinet         -0.331         2.249          5.505          0              180            0
  65  Drawer          -0.509         0.775          4.617          0              270            0
  66  Drawer          -3.509         0.777          5.157          0              180            0
  67  Cabinet         -3.961         0.388          2.878          0              0              0
  68  Cabinet         -3.961         0.388          4.342          0              0              0
  69  Cabinet         -0.637         0.387          5.582          0              180            0
  70  Cabinet         -0.637         0.388          4.299          0              180            0
  71  Cabinet         -0.637         0.388          5.599          0              180            0
  72  StoveBurner     -2.924         0.924          1.712          0              180            0
  73  Drawer          -1.859         0.775          1.961          0              0              0
  74  Cabinet         -0.331         2.249          5.609          0              180            0
  75  CounterTop      -4.260         0.958          4.943          0              90             0
  76  Cabinet         -4.284         1.931          2.226          0              0              0
  77  Cabinet         -0.331         2.249          3.010          0              180            0
  78  Drawer          -3.801         0.777          5.157          0              180            0
  79  Cabinet         -4.112         1.935          5.321          0              90             0
  80  Cabinet         -3.968         0.388          3.662          0              0              0
  81  Drawer          -3.418         0.777          1.961          0              0              0
  82  Drawer          -4.090         0.777          4.661          0              90             0
  83  Faucet          -4.441         0.909          3.288          270            0              0
  84  Cabinet         -0.331         2.249          4.207          0              180            0
  85  Cabinet         -3.961         0.388          2.119          0              0              0
  86  Drawer          -0.509         0.775          5.920          0              270            0
  87  Drawer          -3.193         0.777          5.157          0              180            0
  88  Cabinet         -3.968         0.388          2.894          0              0              0
  89  Cabinet         -3.667         0.387          5.029          0              90             0
  90  StoveBurner     -2.469         0.924          1.712          0              270            0
  91  Cabinet         -1.539         0.388          2.090          0              0              0
  92  Sink            -4.190         0.921          3.279          0              0              0
  93  Cabinet         -3.641         0.387          5.029          0              90             0
  94  Cabinet         -1.583         1.931          1.777          0              0              0
  95  Drawer          -0.509         0.775          6.568          0              270            0
  96  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  97  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  98  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  99  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 101  GarbageCan      -3.711         -0.030         6.376          0              270            0
 102  Toaster         -3.578         0.912          1.763          0              0              0
 103  Curtains        -4.522         2.252          3.391          90             90             0
 104  Window          -4.868         1.629          3.309          90             270            0
 105  Microwave       -2.693         1.430          1.689          0              0              0
 106  LightSwitch     -1.588         1.169          1.506          0              0              0
 107  SinkBasin       -4.196         0.780          3.276          0              270            0
 108  Fridge          -0.324         -0.001         3.602          0              0              0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Turn left, face the knife on the counter, left of the fridge. | STEP 2: Pick up the knife on the counter, closest to the fridge. | STEP 3: Turn around, bring the knife to the counter across the kitchen, turn right to face the bread on the counter. | STEP 4: Open the cabinet under the bread on the counter, put the knife in the mug in there.  | STEP 5: Pick up the mug with knife in it.  | STEP 6: Turn around, bring the mug to the sink on the right. | STEP 7: Put the mug with knife in the sink.  | END