Task: put plate and knife into sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.0            0              0              0
   1  Potato          1.290          1.068          -1.454         0              90             0              53
   2  Potato          2.959          1.068          -0.541         0              0              0              53
   3  DishSponge      -0.916         0.076          2.842          0              0              0              108
   4  Glassbottle     2.276          0.765          3.895          0              270            0              54
   5  Pot             -0.544         1.030          2.311          0              0              0              56
   6  Spatula         2.439          1.041          -1.881         0              270            0              53
   7  Spoon           2.840          0.765          4.359          0              225            0              54
   8  Spoon           2.649          0.801          -0.699         0              0              0              53
   9  Fork            2.754          1.027          1.350          0              136.999        0              53
  10  Egg             2.525          0.808          4.32           0              0              0              54
  11  Cup             2.706          1.025          -1.151         0              0              0              53
  12  Cup             2.106          1.859          -1.775         0              0              0              99
  13  Plate           2.294          0.764          4.091          0              329.999        0              54
  14  Plate           2.599          0.764          3.795          0              0              0              54
  15  Knife           1.290          1.052          -1.881         0              90             0              53
  16  Knife           2.790          0.789          3.529          0              329.999        0              54
  17  SoapBottle      3.043          1.025          0.068          0              0              0              53
  18  SaltShaker      2.395          0.760          4.362          0              329.999        0              54
  19  PepperShaker    1.950          1.023          1.158          0              136.999        0              53
  20  PepperShaker    -0.360         1.023          1.263          0              0              0              56
  21  Bread           2.976          0.832          3.895          0              270            0              54
  22  Lettuce         2.790          1.085          -1.762         0              0              0              53
  23  Lettuce         2.763          0.822          4.177          0              225            0              54
  24  Apple           2.441          0.814          3.540          0              329.999        0              54
  25  Pan             2.116          1.027          -1.84          0              270            0              57
  26  Glassbottle     -1.045         1.028          1.943          0              0              0              56
  27  Knife           -0.320         1.052          1.448          0              90             0              110
  28  SoapBottle      1.925          0.763          3.895          0              270            0              54
  29  Egg             2.197          1.070          1.946          0              136.999        0              53
  30  Fork            1.640          0.801          1.603          0              317.0          0              68
  31  Potato          2.302          0.806          4.495          0              0              0              54
  32  Ladle           -0.661         0.839          0.696          0              0              0              55
  33  Tomato          -1.028         0.839          -0.516         0              90             0              97
  34  Pot             1.836          1.027          -1.84          0              90             0              51
  35  WineBottle      2.021          1.027          1.503          0              136.999        0              53
  36  Plate           -1.013         1.442          -0.627         0              90             0              97
  37  Spatula         2.425          1.041          -1.667         0              270            0              53
  38  PaperTowelRoll  1.926          0.868          3.747          0              270            0              54
  39  Lettuce         2.451          0.822          3.97           0              225            0              54
  40  Apple           2.000          1.901          -1.843         0              0              0              99
  41  SaltShaker      -0.920         1.023          2.556          0              0              0              56
  42  PepperShaker    -0.448         0.796          0.373          0              0              0              55
  43  ButterKnife     2.649          0.800          -0.699         0              0              0              53
  44  Bread           -0.968         1.510          -0.184         0              90             0              97
  45  Cup             2.626          0.763          3.970          0              270            0              54
  46  DishSponge      2.451          0.764          3.445          0              0              0              54
  47  Bowl            -0.418         1.025          0.785          0              0              0              56
  48  Spoon           2.599          0.765          4.495          0              0              0              54
  49  Mug             -0.803         1.070          0.646          0              90             0              106
  50  Sink            -0.716         1.023          1.333          0              0              0
  51  StoveBurner     1.835          1.018          -1.840         0              90             0
  52  StoveBurner     2.177          1.018          -1.599         0              0              0
  53  CounterTop      2.812          0.992          0.675          0              0              0
  54  DiningTable     2.419          0.003          3.930          0              0              0
  55  Drawer          -0.643         0.828          0.616          0              0              0
  56  CounterTop      -0.813         1.062          2.188          0              0              0
  57  StoveBurner     2.115          1.018          -1.840         0              270            0
  58  Drawer          -0.643         0.831          1.953          0              0              0
  59  Drawer          -0.643         0.833          2.418          0              0              0
  60  Drawer          1.347          0.836          -1.539         0              0              0
  61  Drawer          2.693          0.833          -1.131         0              0              0
  62  Drawer          2.693          0.833          -0.699         0              0              0
  63  Drawer          2.693          0.833          -0.267         0              0              0
  64  Drawer          2.693          0.833          0.163          0              0              0
  65  Drawer          2.524          0.833          0.720          0              2.000          0
  66  Drawer          2.232          0.833          1.036          0              2.000          0
  67  Drawer          1.936          0.833          1.354          0              2.000          0
  68  Drawer          1.646          0.833          1.670          0              2.000          0
  69  Cabinet         1.504          2.475          -1.710         0              0              0
  70  Cabinet         -0.823         2.220          1.621          0              0              0
  71  Cabinet         -0.823         2.220          0.615          0              0              0
  72  Cabinet         1.136          0.388          -1.355         0              0              0
  73  Cabinet         -0.356         0.383          2.626          0              0              0
  74  Cabinet         2.745          2.220          -1.690         0              0              0
  75  Cabinet         1.882          0.383          1.017          0              0              0
  76  Cabinet         1.307          0.473          1.640          0              0              0
  77  Cabinet         1.892          0.383          1.006          0              0              0
  78  Cabinet         2.467          0.383          0.383          0              0              0
  79  Cabinet         2.466          0.383          -0.475         0              0              0
  80  Cabinet         2.466          0.473          0.371          0              0              0
  81  Cabinet         2.386          2.475          -1.710         0              0              0
  82  Cabinet         -0.356         0.383          1.712          0              0              0
  83  Cabinet         2.745          2.220          0.019          0              0              0
  84  Cabinet         -0.663         2.496          0.157          0              0              0
  85  Cabinet         -0.663         2.496          -0.868         0              0              0
  86  Cabinet         -0.356         0.383          0.269          0              0              0
  87  Cabinet         -0.823         2.220          1.603          0              0              0
  88  Cabinet         -0.662         2.234          0.586          0              0              0
  89  Cabinet         2.745          2.220          -0.843         0              0              0
  90  Cabinet         2.745          2.220          -0.827         0              0              0
  91  Cabinet         -0.823         2.220          2.608          0              0              0
  92  Cabinet         2.732          2.226          -1.709         0              0              0
  93  Cabinet         1.137          2.226          -1.709         0              0              0
  94  Cabinet         2.466          0.383          -0.491         0              0              0
  95  Cabinet         2.466          0.383          -1.339         0              0              0
  96  StoveBurner     1.761          1.018          -1.599         0              0              0
  97  Fridge          -0.908         0.0            -0.405         0              0              0
  98  HousePlant      2.517          1.016          1.822          0              0              0
  99  Microwave       1.939          1.745          -1.826         0              0              0
 100  StoveKnob       2.017          1.041          -1.514         0              180            180
 101  StoveKnob       1.934          1.041          -1.514         0              180            180
 102  StoveKnob       2.017          1.041          -1.589         0              180            180
 103  StoveKnob       1.934          1.041          -1.589         0              180            180
 104  Window          1.756          1.608          4.762          90             0              0
 105  HousePlant      2.171          1.004          2.091          0              0              0
 106  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 107  LightSwitch     -0.099         1.410          -2.066         0              0              0
 108  GarbageCan      -0.951         -0.029         2.826          0              0              0
 109  Toaster         -1.007         1.018          2.238          0              90             0
 110  SinkBasin       -0.714         0.805          1.348          0              90             0
 111  Chair           1.615          0.004          4.310          0              107.976        0
 112  Faucet          -1.120         1.013          1.334          0              90             0
 113  Chair           2.759          0.004          3.086          0              358.967        0
 114
 115  NorthWall
 116  EastWall
 117  SouthWall
 118  WestWall

Plan:
STEP 1: turn to face sink | STEP 2: pick up sharp knife from inside sink | STEP 3: walk to face round table | STEP 4: put knife on plate on table  | STEP 5: pick up plate from table | STEP 6: walk to face sink | STEP 7: put plate in sink basin | END