Task: Move a knife and cup from the sink to the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.908          1.25           0              270            0
   1  SprayBottle     0.127          0.116          -0.621         0              0              0              68
   2  Potato          -1.149         0.796          0.673          0              90             0              93
   3  Potato          -1.329         1.060          0.098          0              90             0              99
   4  CellPhone       -0.968         0.909          -0.907         0              0              0              79
   5  DishSponge      -1.513         0.911          -0.902         0              0              0              79
   6  DishSponge      -1.383         0.748          2.087          0              0              0              54
   7  ButterKnife     0.054          0.912          -0.354         0              0              0              79
   8  ButterKnife     1.365          0.911          -0.144         0              0              0              73
   9  ButterKnife     1.284          0.886          2.153          0              0              0              105
  10  Glassbottle     -0.144         0.759          -0.533         0              0              0              100
  11  WineBottle      0.127          0.117          -0.446         0              0              0              68
  12  WineBottle      1.365          0.912          -0.428         0              0              0              73
  13  Kettle          0.802          0.939          -0.740         0              90             0              82
  14  Spoon           1.070          0.777          -0.049         0              90             0              74
  15  Fork            -1.197         0.749          2.273          0              0              0              54
  16  Spatula         -0.919         0.764          2.830          0              270            0              54
  17  Egg             -0.082         0.792          -0.651         0              0              0              100
  18  Plate           1.207          0.912          0.422          0              0              0              73
  19  Plate           1.128          0.912          -0.144         0              0              0              73
  20  SoapBottle      1.357          0.087          1.472          0              0              0              94
  21  SoapBottle      1.284          0.887          2.369          0              0              0              105
  22  Bowl            -1.206         1.419          1.197          0              90             0              93
  23  Bread           -1.012         0.813          1.902          0              0              0              54
  24  Lettuce         -1.320         0.822          0.778          0              90             0              93
  25  SaltShaker      1.207          0.907          0.706          0              0              0              73
  26  SaltShaker      -0.130         0.908          -0.933         0              0              0              79
  27  Apple           1.189          0.146          1.472          0              0              0              94
  28  Bread           -1.383         0.812          2.644          0              0              0              54
  29  Glassbottle     1.131          0.116          0.808          0              0              0              65
  30  Fork            0.103          0.759          -0.612         0              0              0              100
  31  Kettle          1.284          0.887          2.584          0              0              0              105
  32  Tomato          -1.378         1.338          0.778          0              90             0              93
  33  Plate           -1.105         0.750          2.644          0              0              0              54
  34  CellPhone       1.117          0.884          2.692          0              0              0              105
  35  Lettuce         -1.263         1.492          0.778          0              90             0              93
  36  Pot             0.502          0.939          -0.740         0              90             0              80
  37  SoapBottle      -0.919         0.750          3.015          0              0              0              54
  38  WineBottle      -1.475         0.749          2.273          0              0              0              54
  39  Spatula         1.117          0.901          2.153          0              0              0              105
  40  Bowl            1.286          0.909          0.139          0              0              0              73
  41  Apple           -1.263         0.811          1.302          0              90             0              93
  42  Cup             0.041          0.757          -0.691         0              0              0              100
  43  Knife           -0.968         0.934          -0.430         0              0              0              79
  44  Egg             1.362          0.120          1.605          0              0              0              94
  45  SaltShaker      -0.919         0.745          2.087          0              0              0              54
  46  PepperShaker    -1.383         0.745          2.459          0              0              0              54
  47  Potato          -1.123         0.957          -0.748         0              0              0              79
  48  ButterKnife     1.444          0.911          0.422          0              0              0              73
  49  DishSponge      1.219          0.115          1.157          0              0              0              94
  50  Pan             -1.332         0.9            -0.699         0              345.0          0              79
  51  Spoon           -1.099         0.777          0.174          0              90             0              75
  52  SprayBottle     1.034          0.885          2.477          0              0              0              105
  53  Mug             -1.197         0.743          2.830          0              0              0              54
  54  DiningTable     -1.182         0.006          2.414          0              90             0
  55  Cabinet         1.184          2.059          0.375          0              0              0
  56  Cabinet         1.184          2.059          -0.635         0              0              0
  57  Cabinet         0.591          2.309          -0.645         0              0              0
  58  Cabinet         -0.574         2.059          -0.644         0              0              0
  59  Cabinet         -1.103         2.059          -0.644         0              0              0
  60  Cabinet         -1.185         2.059          -0.331         0              0              0
  61  Cabinet         -1.185         2.059          -0.281         0              0              0
  62  Cabinet         -1.185         2.059          0.375          0              0              0
  63  Cabinet         1.184          2.309          1.174          0              0              0
  64  Cabinet         1.184          2.309          0.424          0              0              0
  65  Cabinet         0.988          0.402          0.581          0              0              0
  66  Cabinet         0.988          0.402          0.531          0              0              0
  67  Cabinet         0.988          0.402          -0.178         0              0              0
  68  Cabinet         0.335          0.402          -0.348         0              0              0
  69  Cabinet         -0.374         0.402          -0.348         0              0              0
  70  Cabinet         0.988          0.402          1.231          0              0              0
  71  Cabinet         -1.185         2.309          1.374          0              0              0
  72  Cabinet         -1.185         2.309          0.424          0              0              0
  73  CounterTop      1.274          0.947          0.064          0              0              0
  74  Drawer          1.116          0.792          -0.015         0              0              0
  75  Drawer          -1.116         0.792          0.210          0              180            0
  76  Cabinet         -0.990         0.402          0.374          0              180            0
  77  Drawer          -1.116         0.792          -0.170         0              180            0
  78  Cabinet         -0.990         0.402          -0.335         0              180            0
  79  CounterTop      -1.001         0.947          -0.669         0              0              0
  80  StoveBurner     0.502          0.932          -0.740         0              90             0
  81  StoveBurner     0.801          0.932          -0.473         0              0              0
  82  StoveBurner     0.801          0.932          -0.740         0              90             0
  83  Drawer          1.116          0.792          1.081          0              0              0
  84  Sink            -0.013         0.912          -0.615         0              0              0
  85  Drawer          1.116          0.792          0.732          0              0              0
  86  StoveBurner     0.502          0.932          -0.469         0              0              0
  87  Drawer          1.116          0.792          0.367          0              0              0
  88  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  90  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  91  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  92  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  93  Fridge          -1.300         0.008          0.987          0              90             0
  94  GarbageCan      1.296          -0.024         1.465          0              0              0
  95  Window          -0.012         1.641          -0.972         90             0              0
  96  Window          1.598          1.646          2.489          90             270            0
  97  Toaster         1.356          0.900          1.044          0              270            0
  98  LightSwitch     0.118          1.353          3.799          0              180            0
  99  Microwave       -1.343         0.900          0.053          0              90             0
 100  SinkBasin       -0.029         0.748          -0.612         0              0              0
 101  Faucet          -0.026         0.927          -0.808         0              0              0
 102  Shelf           -1.182         0.127          2.414          0              90             0
 103  Stool           1.140          0.007          3.262          1.206          20.753         0
 104  Shelf           -1.182         0.435          2.414          0              90             0
 105  DiningTable     1.169          0.014          2.569          0              0              1.896
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn left and go to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Place the knife in the cup in the sink | STEP 4: Pick up the knife and cup from the sink | STEP 5: Go to the right of the sink | STEP 6: Place the knife and cup on the counter to the right of the sink | END