Task: Move a knife in a mug 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           -0.5           0.900          2.75           0              0              0
   1  Potato          1.892          1.030          -0.651         0              270            0              86
   2  Potato          -1.463         0.935          -1.063         0              0              0              65
   3  Kettle          -0.106         0.926          0.041          0              0              0              73
   4  DishSponge      -1.796         0.040          1.288          0              270            0              79
   5  ButterKnife     1.661          0.237          0.047          0              0              0              48
   6  ButterKnife     1.762          0.141          1.219          0              0              0              74
   7  Fork            1.713          0.580          0.462          0              90             0              69
   8  Pot             0.107          0.929          1.202          0              0              0              73
   9  Pot             0.107          0.929          0.273          0              0              0              73
  10  Egg             0.083          0.817          -1.546         0              0              0              89
  11  Cup             -1.114         1.677          -1.652         0              0              0              67
  12  Knife           0.107          0.947          0.506          0              180            0              73
  13  Knife           1.764          0.481          0.599          0              0              0              69
  14  Knife           0.000          0.947          -0.190         0              0              0              73
  15  SoapBottle      -1.668         0.915          -1.221         0              0              0              65
  16  Tomato          -0.088         0.815          -1.435         0              0              0              89
  17  Bowl            -1.697         1.674          -0.175         0              90             0              88
  18  SaltShaker      0.250          0.109          -1.282         0              0              0              54
  19  Lettuce         -1.750         1.545          0.107          0              90             0              88
  20  SoapBottle      -0.305         0.118          -1.409         0              0              0              44
  21  Cup             0.000          0.923          0.970          0              0              0              73
  22  Pot             1.975          0.938          0.384          0              180            0              51
  23  Fork            -1.902         0.912          -1.063         0              0              0              65
  24  Ladle           1.764          0.391          0.531          0              0              0              59
  25  Kettle          1.975          0.938          0.819          0              180            0              75
  26  Egg             -1.783         0.896          -0.081         0              90             0              88
  27  Plate           0.889          0.910          -1.415         0              0              0              65
  28  Pan             -1.286         0.9            -1.348         0              79.769         0              65
  29  Lettuce         -0.213         1.002          0.970          0              0              0              73
  30  Spatula         1.815          0.131          -0.157         0              90             0              48
  31  Apple           -1.716         0.892          0.295          0              90             0              88
  32  Knife           0.000          0.947          0.506          0              0              0              73
  33  SaltShaker      0.889          0.907          -1.221         0              0              0              65
  34  PepperShaker    -1.551         0.907          -1.113         0              0              0              65
  35  CellPhone       -1.874         0.909          -1.610         0              0              0              65
  36  ButterKnife     1.658          0.120          0.599          0              270            0              57
  37  Bread           -0.213         1.006          0.738          0              0              0              73
  38  Tomato          -1.463         0.966          -0.864         0              0              0              65
  39  Potato          2.020          1.030          -0.808         0              270            0              86
  40  DishSponge      1.587          1.679          -1.690         0              0              0              64
  41  Spoon           -0.106         0.926          0.738          0              0              0              73
  42  Mug             -0.137         0.109          -1.222         0              270            0              44
  43  Bowl            -1.697         1.467          -0.175         0              90             0              88
  44  Cabinet         -0.495         0.474          -1.149         0              0              0
  45  Window          -0.010         1.582          -1.821         0              0              0
  46  Drawer          0.805          0.475          -1.159         0              0              0
  47  StoveBurner     1.764          0.902          0.601          0              270            0
  48  Drawer          1.5            0.196          -0.019         0              0              0
  49  Drawer          1.5            0.629          -0.018         0              0              0
  50  Drawer          1.5            0.602          -0.019         0              270            0
  51  StoveBurner     1.975          0.902          0.384          0              270            0
  52  Cabinet         -1.703         2.022          -1.453         0              90             0
  53  Cabinet         1.789          2.019          -0.819         0              270            0
  54  Cabinet         0.494          0.474          -1.149         0              0              0
  55  Cabinet         0.409          0.475          0.444          0              0              0
  56  Drawer          -0.696         0.475          -1.159         0              0              0
  57  Drawer          1.5            0.140          0.599          0              270            0
  58  Cabinet         1.389          0.474          -1.149         0              0              0
  59  Drawer          1.5            0.305          0.600          0              0              0
  60  StoveBurner     1.975          0.902          0.601          0              270            0
  61  Drawer          1.5            0.429          -0.019         0              0              0
  62  StoveBurner     1.764          0.902          0.819          0              270            0
  63  Drawer          1.5            0.519          1.220          0              0              0
  64  Cabinet         1.705          2.019          -1.449         0              0              0
  65  CounterTop      0.002          0.947          -1.513         0              0              0
  66  Drawer          1.5            0.629          0.605          0              0              0
  67  Cabinet         -0.627         2.019          -1.449         0              0              0
  68  StoveBurner     1.764          0.902          0.384          0              270            0
  69  Drawer          1.5            0.538          0.600          0              0              0
  70  Sink            0.0            0.893          -1.434         0              0              0
  71  Drawer          1.5            0.782          1.220          0              270            0
  72  Window          2.217          1.565          -0.384         0              0              0
  73  CounterTop      -0.014         0.961          0.505          0              0              0
  74  Drawer          1.5            0.200          1.220          0              0              0
  75  StoveBurner     1.975          0.902          0.819          0              270            0
  76  Window          -3.240         1.616          2.693          0              270            0
  77  Cabinet         -1.389         0.474          -1.149         0              0              0
  78  LightSwitch     -0.153         1.291          3.700          0              180            0
  79  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  80  StoveKnob       1.602          0.917          0.570          0              270            180
  81  StoveKnob       1.602          0.917          0.625          0              270            180
  82  StoveKnob       1.602          0.917          0.739          0              270            180
  83  StoveKnob       1.602          0.917          0.680          0              270            180
  84  StoveKnob       1.602          0.917          0.462          0              270            180
  85  StoveKnob       1.602          0.917          0.517          0              270            180
  86  Microwave       1.932          0.899          -0.766         0              270            0
  87  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  88  Fridge          -1.764         0.0            0.014          0              90             0
  89  SinkBasin       -0.014         0.736          -1.435         0              0              0
  90  Toaster         1.977          0.900          -0.336         0              270            0
  91  Faucet          -0.020         1.137          -1.605         0              270            0
  92  Chair           -9.354         0.000          1.242          0              180            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Move right then right again facing the kitchen island counter on the right | STEP 2: Pick up the knife with the yellow handle on the counter top | STEP 3: Carry the knife over to the kitchen sink cupboard on the right side under the sink | STEP 4: Open the cupboard and place the knife inside of the cup in the cupboard  | STEP 5: Pick up the cup with the knife then close the cupboard | STEP 6: Move towards the sink then face the sink | STEP 7: Place the mug with the knife with the knife inside of it in the sink basin on the far left | END