Task: Put a glass with a knife in it in 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           -2.5           0.900          -1.25          0              270            0
   1  SprayBottle     1.302          0.213          1.08           0              0              0              97
   2  SprayBottle     0.664          0.910          -1.704         0              0              0              80
   3  Pen             -0.344         0.777          -1.565         0              270            0              79
   4  Pen             -1.809         0.913          -1.448         0              0              0              85
   5  Potato          1.414          1.203          0.370          0              90             0              86
   6  Ladle           -0.552         0.955          -1.448         0              0              0              80
   7  ButterKnife     -1.957         0.910          0.549          0              0              0              82
   8  ButterKnife     -0.703         0.911          -1.874         0              0              0              80
   9  DishSponge      0.183          0.919          -1.859         0              270            0              59
  10  DishSponge      0.969          0.774          0.431          0              0              0              57
  11  Fork            1.068          0.773          0.539          0              270            0              57
  12  Fork            0.285          0.920          -1.657         0              90             0              59
  13  Spoon           0.970          0.776          -0.732         0              90             0              71
  14  Egg             1.538          1.294          0.031          0              270            0              102
  15  Cup             -0.458         1.656          -1.913         0              0              0              62
  16  Cup             -1.886         0.910          -1.879         0              0              0              78
  17  Cup             1.223          1.656          -1.264         0              0              0              72
  18  Plate           1.343          0.911          0.031          0              0              0              80
  19  Plate           -1.039         1.851          -1.839         0              0              0              60
  20  SoapBottle      -2.201         0.910          0.549          0              90             0              82
  21  SoapBottle      -1.524         1.858          -1.874         0              0              0              73
  22  Tomato          1.453          1.760          1.838          0              270            0              99
  23  Bowl            1.454          1.162          -1.688         0              0              0              86
  24  Bowl            1.343          0.911          -1.672         0              0              0              80
  25  Bread           0.758          0.989          -1.619         0              0              0              80
  26  Lettuce         1.375          1.436          1.726          0              270            0              99
  27  Mug             1.070          0.957          -1.641         0              0              0              96
  28  Mug             1.275          1.362          1.976          0              270            0              99
  29  Apple           0.217          0.954          -1.708         0              270            0              59
  30  Apple           1.376          1.402          2.101          0              270            0              99
  31  Tomato          1.426          0.951          -0.65          0              0              0              80
  32  Glassbottle     1.520          1.656          -1.185         0              0              0              72
  33  Knife           1.093          0.941          -1.331         0              0              0              80
  34  Plate           1.342          1.656          -0.815         0              0              0              68
  35  Fork            -2.079         0.911          0.377          0              0              0              82
  36  Ladle           0.649          0.161          -1.585         0              90             0              74
  37  Potato          0.149          0.961          -1.556         0              270            0              59
  38  Lettuce         -1.712         0.979          0.291          0              0              0              82
  39  Kettle          0.770          0.9            -1.836         0              0              0              80
  40  Pen             -0.552         0.913          -1.704         0              0              0              80
  41  SaltShaker      -1.732         0.905          -1.965         0              0              0              78
  42  Cup             1.454          1.162          -1.002         0              0              0              86
  43  Egg             1.499          0.243          1.137          0              0              0              97
  44  Spatula         -1.809         0.925          -1.879         0              90             0              78
  45  Bowl            0.977          0.115          -1.244         0              0              0              65
  46  SprayBottle     1.375          1.161          -0.659         0              0              0              86
  47  Pan             -1.081         0.949          -1.527         0              0              0              81
  48  SoapBottle      -0.406         0.116          -1.635         0              0              0              66
  49  Pot             -1.431         0.949          -1.525         0              0              0              88
  50  ButterKnife     -2.323         0.910          0.377          0              0              0              82
  51  PepperShaker    1.580          1.651          -0.736         0              0              0              68
  52  DishSponge      1.296          1.161          -0.659         0              0              0              86
  53  Bread           1.375          1.240          -1.345         0              0              0              86
  54  Apple           1.381          0.249          1.051          0              0              0              97
  55  Spoon           0.472          0.775          -1.500         0              270            0              84
  56  Mug             1.505          1.260          0.188          0              270            0              102
  57  Drawer          0.860          0.75           0.430          0              0              0
  58  Drawer          0.871          0.75           -1.134         0              0              0
  59  Sink            0.156          0.817          -1.801         0              270            0
  60  Cabinet         -0.868         2.005          -1.690         0              0              0
  61  Cabinet         -1.661         2.059          -1.684         0              90             0
  62  Cabinet         -0.817         2.059          -1.689         0              0              0
  63  Cabinet         0.860          0.402          0.665          0              0              0
  64  Cabinet         0.860          0.402          -0.552         0              0              0
  65  Cabinet         0.860          0.402          -1.365         0              0              0
  66  Cabinet         -0.244         0.402          -1.389         0              0              0
  67  Cabinet         -0.815         0.402          -1.389         0              0              0
  68  Cabinet         1.159          2.059          -0.334         0              0              0
  69  Cabinet         0.488          2.059          -1.689         0              0              0
  70  Cabinet         -0.193         2.059          -1.689         0              0              0
  71  Drawer          0.860          0.75           -0.699         0              0              0
  72  Cabinet         1.159          2.059          -1.019         0              0              0
  73  Cabinet         -1.611         2.005          -1.690         0              0              0
  74  Cabinet         0.832          0.401          -1.393         0              90             0
  75  Drawer          -2.105         0.75           -1.389         0              0              0
  76  StoveBurner     -1.081         0.941          -1.809         0              0              0
  77  Cabinet         -0.202         0.401          -1.391         0              90             0
  78  CounterTop      -1.973         0.945          -1.707         0              0              0
  79  Drawer          -0.375         0.75           -1.389         0              0              0
  80  CounterTop      1.164          0.946          -0.649         0              0              0
  81  StoveBurner     -1.081         0.941          -1.527         0              0              0
  82  CounterTop      -2.096         0.945          0.291          0              0              0
  83  Cabinet         -2.237         0.402          -1.389         0              0              0
  84  Drawer          0.584          0.75           -1.389         0              0              0
  85  Drawer          -1.795         0.75           -1.389         0              0              0
  86  CounterTop      1.5            1.197          -0.654         0              0              0
  87  Cabinet         -1.667         0.402          -1.389         0              0              0
  88  StoveBurner     -1.430         0.941          -1.525         0              0              0
  89  Drawer          -0.685         0.75           -1.389         0              0              0
  90  StoveBurner     -1.430         0.941          -1.809         0              0              0
  91  LightSwitch     -2.539         1.289          2.568          0              90             0
  92  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  93  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  94  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  95  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  96  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  97  GarbageCan      1.343          0.015          1.041          0              0              0
  98  HousePlant      1.440          1.153          0.593          0              0              0
  99  Fridge          1.417          0.0            2.101          0              0              0
 100  Window          -0.486         1.452          3.302          90             0              0
 101  SinkBasin       -0.063         0.765          -1.713         0              270            0
 102  Microwave       1.422          1.150          0.022          0              270            0
 103  Toaster         -2.066         0.900          -1.848         0              0              0
 104  Stool           -1.994         0.010          0.882          0              0              0
 105  Faucet          -0.096         1.041          -1.867         0              270            0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn around, go straight, then turn right to face the counter to the left of the oven. | STEP 2: Pick up the butter knife on the counter, to the left of the oven. | STEP 3: Turn left, then go straight to face the counter. | STEP 4: Place the knife in the glass on the counter. | STEP 5: Pick up the glass with the knife in it. | STEP 6: Turn around, then go straight, then turn left to face the sink. | STEP 7: Put the glass in the sink. | END