Task: Place a cup with a knife in it in a sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.899          4.75           0              90             0
   1  Pan             -4.26          0.923          4.640          0              90             0              77
   2  Potato          -0.181         0.958          5.932          0              0              0              62
   3  ButterKnife     -2.026         0.923          1.648          0              180            0              59
   4  WineBottle      -4.064         0.084          3.038          0              0              0              90
   5  Pot             -2.469         0.930          1.712          0              270            0              92
   6  Fork            -4.26          0.924          4.122          0              90             0              77
   7  Spoon           -0.258         0.926          4.615          0              0              0              62
   8  Spoon           -4.233         0.792          3.285          0              270            0              109
   9  Spatula         -1.693         0.938          2.026          0              0              0              59
  10  Spatula         -0.411         0.940          4.615          0              0              0              62
  11  Cup             -0.342         1.334          3.231          0              270            0              110
  12  Cup             -1.860         0.922          1.875          0              0              0              59
  13  Egg             -4.121         0.826          3.472          0              270            0              109
  14  Egg             -2.688         1.582          1.633          0              0              0              107
  15  Plate           -4.162         1.457          1.914          0              45             0              78
  16  Plate           -0.295         1.071          3.726          0              270            0              110
  17  SoapBottle      -0.104         0.924          5.273          0              0              0              62
  18  SoapBottle      -3.454         1.459          5.476          0              90             0              63
  19  Tomato          -0.181         0.982          4.615          0              0              0              62
  20  Bowl            -0.454         1.067          3.479          0              270            0              110
  21  SaltShaker      -0.237         2.131          5.925          0              180            0              76
  22  PepperShaker    -0.473         0.742          4.771          0              270            0              67
  23  Lettuce         -0.342         1.431          3.479          0              270            0              110
  24  Lettuce         -4.196         0.886          3.347          0              270            0              109
  25  Mug             -0.218         1.330          3.231          0              270            0              110
  26  Mug             -2.530         1.541          1.731          0              0              0              107
  27  Egg             -0.181         0.960          5.603          0              0              0              62
  28  Apple           -0.301         1.389          3.974          0              270            0              110
  29  Knife           -0.181         0.954          4.944          0              0              0              62
  30  Potato          -4.242         0.956          2.649          0              0              0              77
  31  Fork            -1.777         0.924          1.875          0              270            0              59
  32  Bowl            -0.342         1.682          3.733          0              270            0              110
  33  Plate           -4.172         0.924          2.183          0              0              0              77
  34  Lettuce         -2.026         1.018          1.951          0              0              0              59
  35  Bread           -3.859         1.003          1.724          0              0              0              77
  36  Tomato          -3.712         0.125          6.416          0              270            0              103
  37  WineBottle      -0.411         0.926          5.932          0              0              0              111
  38  Spatula         -4.517         0.938          3.432          0              90             0              77
  39  PaperTowelRoll  -4.033         1.027          3.863          0              90             0              77
  40  Cup             -1.693         0.922          1.8            0              0              0              59
  41  Pencil          -3.675         0.068          6.333          0              270            0              103
  42  Pan             -4.172         0.923          2.416          0              90             0              109
  43  Pot             -2.924         0.930          1.712          0              180            0              74
  44  SaltShaker      -4.125         0.741          4.660          0              90             0              84
  45  SoapBottle      -1.860         0.923          1.573          0              0              0              59
  46  PepperShaker    -0.473         0.743          6.645          0              270            0              97
  47  ButterKnife     -1.943         0.923          1.875          0              0              0              59
  48  DishSponge      -1.943         0.923          1.724          0              0              0              59
  49  Spoon           -0.334         0.926          5.273          0              0              0              62
  50  Mug             -3.531         0.077          1.850          0              0              0              52
  51  Cabinet         -3.203         1.931          1.777          0              0              0
  52  Cabinet         -3.187         0.390          2.089          0              0              0
  53  Cabinet         -0.637         0.387          6.882          0              180            0
  54  Drawer          -3.797         0.781          1.961          0              0              0
  55  Cabinet         -3.036         0.387          5.029          0              90             0
  56  Drawer          -0.509         0.775          5.268          0              270            0
  57  Drawer          -4.125         0.798          2.499          0              0              0
  58  Cabinet         -0.331         2.249          4.308          0              180            0
  59  CounterTop      -1.872         0.958          1.799          0              0              0
  60  StoveBurner     -2.924         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          6.806          0              180            0
  62  CounterTop      -0.345         0.960          5.603          0              0              0
  63  Cabinet         -3.039         1.935          5.321          0              90             0
  64  Cabinet         -3.922         0.397          2.088          0              0              0
  65  StoveBurner     -2.467         0.924          2.012          0              0              0
  66  Cabinet         -0.331         2.249          5.505          0              180            0
  67  Drawer          -0.509         0.775          4.617          0              270            0
  68  Drawer          -3.509         0.777          5.157          0              180            0
  69  Cabinet         -3.961         0.388          2.878          0              0              0
  70  Cabinet         -3.961         0.388          4.342          0              0              0
  71  Cabinet         -0.637         0.387          5.582          0              180            0
  72  Cabinet         -0.637         0.388          4.299          0              180            0
  73  Cabinet         -0.637         0.388          5.599          0              180            0
  74  StoveBurner     -2.924         0.924          1.712          0              180            0
  75  Drawer          -1.859         0.775          1.961          0              0              0
  76  Cabinet         -0.331         2.249          5.609          0              180            0
  77  CounterTop      -4.260         0.958          4.943          0              90             0
  78  Cabinet         -4.284         1.931          2.226          0              0              0
  79  Cabinet         -0.331         2.249          3.010          0              180            0
  80  Drawer          -3.801         0.777          5.157          0              180            0
  81  Cabinet         -4.112         1.935          5.321          0              90             0
  82  Cabinet         -3.968         0.388          3.662          0              0              0
  83  Drawer          -3.418         0.777          1.961          0              0              0
  84  Drawer          -4.090         0.777          4.661          0              90             0
  85  Faucet          -4.441         0.909          3.288          270            0              0
  86  Cabinet         -0.331         2.249          4.207          0              180            0
  87  Cabinet         -3.961         0.388          2.119          0              0              0
  88  Drawer          -0.509         0.775          5.920          0              270            0
  89  Drawer          -3.193         0.777          5.157          0              180            0
  90  Cabinet         -3.968         0.388          2.894          0              0              0
  91  Cabinet         -3.667         0.387          5.029          0              90             0
  92  StoveBurner     -2.469         0.924          1.712          0              270            0
  93  Cabinet         -1.539         0.388          2.090          0              0              0
  94  Sink            -4.190         0.921          3.279          0              0              0
  95  Cabinet         -3.641         0.387          5.029          0              90             0
  96  Cabinet         -1.583         1.931          1.777          0              0              0
  97  Drawer          -0.509         0.775          6.568          0              270            0
  98  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  99  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 103  GarbageCan      -3.711         -0.030         6.376          0              270            0
 104  Toaster         -3.578         0.912          1.763          0              0              0
 105  Curtains        -4.522         2.252          3.391          90             90             0
 106  Window          -4.868         1.629          3.309          90             270            0
 107  Microwave       -2.693         1.430          1.689          0              0              0
 108  LightSwitch     -1.588         1.169          1.506          0              0              0
 109  SinkBasin       -4.196         0.780          3.276          0              270            0
 110  Fridge          -0.324         -0.001         3.602          0              0              0
 111
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Walk ahead to the counter and then right all the way to the left side of the other counter ahead of you. | STEP 2: Pick up the knife on the counter. | STEP 3: Look down at the counter. | STEP 4: Place the knife black cup closest to the side of the counter. | STEP 5: Pick up the black cup. | STEP 6: Turn right and veer left to the sink. | STEP 7: Place the cup in the sink to the left of the lettuce. | END