Task: Pick up knife and cup from table, move to sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          1.5            0              90             0
   1  Pan             -3.44          0.911          3.061          0              0              0              58
   2  Potato          -0.603         1.155          0.659          0              0              0              53
   3  ButterKnife     -2.388         1.124          0.473          0              0              0              51
   4  Fork            -1.885         1.125          0.190          0              0              0              51
   5  Spatula         -2.639         1.139          0.379          0              90             0              51
   6  Egg             -3.696         0.142          2.068          0              0              0              62
   7  Plate           -0.662         1.045          3.042          0              0              0              41
   8  Knife           -0.662         1.080          2.369          0              90             0              41
   9  SoapBottle      -2.137         1.125          0.567          0              0              0              51
  10  Bowl            -1.195         0.047          0.437          0              0              0              45
  11  Bowl            -0.538         1.045          2.817          0              0              0              41
  12  SaltShaker      -0.292         1.043          2.144          0              0              0              41
  13  Lettuce         -0.908         1.124          2.593          0              0              0              41
  14  Fork            -0.827         1.125          0.478          0              0              0              53
  15  SoapBottle      -0.415         1.047          2.144          0              0              0              41
  16  Pot             -3.475         1.133          0.227          0              90             0              37
  17  Ladle           -2.011         1.164          0.473          0              0              0              51
  18  Potato          -2.388         1.155          0.662          0              0              0              51
  19  Plate           -3.572         1.558          2.991          0              90             0              58
  20  Bread           -0.908         1.133          2.144          0              0              0              41
  21  Lettuce         -3.506         1.364          2.991          0              90             0              58
  22  Spatula         -0.538         1.062          2.369          0              0              0              41
  23  Pan             -0.266         1.038          2.561          0              0              0              41
  24  Egg             -0.538         1.078          2.144          0              0              0              41
  25  Cup             -0.908         1.045          2.369          0              0              0              41
  26  SaltShaker      -1.522         0.045          0.608          0              0              0              56
  27  Knife           -3.814         1.157          0.190          0              90             0              48
  28  Bowl            -0.785         1.044          1.920          0              0              0              41
  29  PepperShaker    -1.948         0.091          0.579          0              0              0              43
  30  ButterKnife     -0.785         1.048          3.266          0              0              0              41
  31  Apple           -3.291         0.990          2.419          0              270            0              58
  32  Tomato          -0.908         1.087          3.042          0              0              0              41
  33  DishSponge      -3.798         0.112          1.978          0              0              0              62
  34  Spoon           -2.262         1.126          0.284          0              0              0              51
  35  Mug             -1.116         0.044          0.608          0              0              0              45
  36  StoveKnob       -3.322         1.053          0.709          45             0              0
  37  StoveBurner     -3.474         1.097          0.227          0              180            0
  38  Sink            -1.394         0.982          0.439          0              0              0
  39  StoveBurner     -3.474         1.097          0.479          0              180            0
  40  StoveKnob       -3.164         1.053          0.709          45             0              0
  41  DiningTable     -0.620         0.017          2.486          0              0              0
  42  Drawer          -2.043         0.608          0.594          0              0              0
  43  Drawer          -2.043         0.216          0.594          0              0              0
  44  Drawer          -2.498         0.216          0.594          0              0              0
  45  Cabinet         -1.001         0.393          0.734          0              0              0
  46  StoveBurner     -3.000         1.097          0.480          0              0              0
  47  StoveKnob       -3.492         1.053          0.709          45             0              0
  48  CounterTop      -3.856         1.160          0.379          0              0              0
  49  Drawer          -2.043         0.937          0.599          0              0              0
  50  Drawer          -2.509         0.937          0.599          0              0              0
  51  CounterTop      -2.280         1.160          0.379          0              0              0
  52  StoveKnob       -2.985         1.053          0.709          45             0              0
  53  CounterTop      -0.514         1.160          0.492          0              0              0
  54  Drawer          -2.498         0.608          0.594          0              0              0
  55  StoveBurner     -3.000         1.097          0.227          0              0              0
  56  Cabinet         -1.733         0.393          0.734          0              0              0
  57  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  58  Fridge          -3.519         0.0            2.717          0              90             0
  59  Window          -1.394         1.924          0.014          90             0              0
  60  Window          -3.266         1.924          0.014          90             0              0
  61  Toaster         -0.225         1.038          2.865          0              270            0
  62  GarbageCan      -3.696         0.002          2.008          0              0              0
  63  SinkBasin       -1.389         0.921          0.428          0              0              0
  64  Microwave       -0.366         1.113          0.430          0              0              0
  65  HousePlant      -2.155         1.101          0.169          0              332.897        0
  66  LightSwitch     -2.584         1.299          3.5            0              180            0
  67  Faucet          -1.393         1.373          0.168          0              270            0
  68  NorthWall
  69  SouthWall
  70  SouthWall

Plan:
STEP 1: Turn left, walk forward to wall, turn right, walk forward to table | STEP 2: Pick up knife off of table | STEP 3: Turn right, walk forward one step, turn left to facing the table,  | STEP 4: Put knife in cup | STEP 5: Pick up cup with knife inside | STEP 6: Turn right, walk to sink | STEP 7: Put cup with knife inside into the sink | END