Task: clean up a knife and a mug then put them into 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           0.900          1.75           0              90             0
   1  Potato          -0.538         1.077          2.144          0              0              0              43
   2  DishSponge      -3.644         0.112          1.978          0              0              0              64
   3  Pot             -3.475         1.133          0.48           0              90             0              41
   4  Fork            -2.011         1.125          0.662          0              0              0              53
   5  Spatula         -0.785         1.062          1.920          0              90             0              43
   6  Egg             -3.572         0.942          2.920          0              90             0              60
   7  Plate           -0.662         1.045          2.593          0              0              0              43
   8  Bowl            -3.307         1.558          3.132          0              90             0              60
   9  Bowl            -3.506         1.558          2.920          0              90             0              60
  10  SaltShaker      -2.514         1.121          0.662          0              0              0              53
  11  PepperShaker    -0.939         1.121          0.569          0              0              0              55
  12  Bread           -0.785         1.134          3.042          0              0              0              43
  13  Mug             -0.292         1.042          2.144          0              0              0              43
  14  Mug             -1.235         0.044          0.494          0              0              0              47
  15  Mug             -0.715         1.119          0.478          0              0              0              55
  16  Fork            -0.715         1.125          0.296          0              0              0              55
  17  SoapBottle      -3.798         0.113          1.978          0              0              0              64
  18  Pot             -3.373         1.291          3.061          0              90             0              60
  19  Ladle           -0.538         1.086          1.920          0              0              0              43
  20  Potato          -0.785         1.078          3.266          0              0              0              43
  21  Plate           -1.562         0.047          0.495          0              0              0              58
  22  Bread           -0.908         1.134          2.144          0              0              0              43
  23  Lettuce         -0.662         1.124          2.817          0              0              0              43
  24  Spatula         -0.292         1.063          1.920          0              180            0              43
  25  Pan             -0.266         1.038          2.561          0              0              0              43
  26  Egg             -0.662         1.077          3.266          0              0              0              43
  27  Cup             -0.883         1.122          0.659          0              0              0              55
  28  SaltShaker      -1.195         0.045          0.381          0              0              0              47
  29  Knife           -2.262         1.157          0.190          0              0              0              53
  30  Bowl            -2.262         1.122          0.473          0              0              0              53
  31  PepperShaker    -0.415         1.044          2.369          0              0              0              43
  32  ButterKnife     -0.292         1.047          1.920          0              0              0              43
  33  Apple           -3.506         1.629          3.203          0              90             0              60
  34  Tomato          -3.639         1.327          2.849          0              90             0              60
  35  DishSponge      -2.639         1.124          0.379          0              0              0              53
  36  Spoon           -0.662         1.049          2.369          0              90             0              43
  37  Mug             -0.377         1.094          3.194          0              270            0              59
  38  StoveKnob       -3.322         1.053          0.709          45             0              0
  39  StoveBurner     -3.474         1.097          0.227          0              180            0
  40  Sink            -1.394         0.982          0.439          0              0              0
  41  StoveBurner     -3.474         1.097          0.479          0              180            0
  42  StoveKnob       -3.164         1.053          0.709          45             0              0
  43  DiningTable     -0.620         0.017          2.486          0              0              0
  44  Drawer          -2.043         0.608          0.594          0              0              0
  45  Drawer          -2.043         0.216          0.594          0              0              0
  46  Drawer          -2.498         0.216          0.594          0              0              0
  47  Cabinet         -1.001         0.393          0.734          0              0              0
  48  StoveBurner     -3.000         1.097          0.480          0              0              0
  49  StoveKnob       -3.492         1.053          0.709          45             0              0
  50  CounterTop      -3.856         1.160          0.379          0              0              0
  51  Drawer          -2.043         0.937          0.599          0              0              0
  52  Drawer          -2.509         0.937          0.599          0              0              0
  53  CounterTop      -2.280         1.160          0.379          0              0              0
  54  StoveKnob       -2.985         1.053          0.709          45             0              0
  55  CounterTop      -0.514         1.160          0.492          0              0              0
  56  Drawer          -2.498         0.608          0.594          0              0              0
  57  StoveBurner     -3.000         1.097          0.227          0              0              0
  58  Cabinet         -1.733         0.393          0.734          0              0              0
  59  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  60  Fridge          -3.519         0.0            2.717          0              90             0
  61  Window          -1.394         1.924          0.014          90             0              0
  62  Window          -3.266         1.924          0.014          90             0              0
  63  Toaster         -0.225         1.038          2.865          0              270            0
  64  GarbageCan      -3.696         0.002          2.008          0              0              0
  65  SinkBasin       -1.389         0.921          0.428          0              0              0
  66  Microwave       -0.366         1.113          0.430          0              0              0
  67  HousePlant      -2.155         1.101          0.169          0              332.897        0
  68  LightSwitch     -2.584         1.299          3.5            0              180            0
  69  Faucet          -1.393         1.373          0.168          0              270            0
  70  NorthWall
  71  SouthWall
  72  SouthWall

Plan:
STEP 1: turn right walk straight towards the sink then turn left then walk straight to the wall then turn left towards the table | STEP 2: pick up the butter knife off of the table | STEP 3: look up | STEP 4: put the butter knife down inside the mug on the table | STEP 5: pick up the butter knife and mug off of the table | STEP 6: turn left walk straight then turn left towards the sink | STEP 7: put the mug and butter knife down together inside of the sink | END