Task: Take the yellow knife and plate from under the sink, put them 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           -2.0           0.900          2.75           0              180            0
   1  Pan             -0.244         0.829          2.075          0              180            0              42
   2  Ladle           -2.540         1.893          2.316          0              0              0              57
   3  Ladle           -2.375         0.867          0.500          0              0              0              47
   4  Pot             -0.518         0.829          1.684          0              0              0              48
   5  Fork            -0.292         0.695          1.215          0              90             0              43
   6  Spatula         -1.207         0.838          0.528          0              0              0              47
   7  Egg             -2.877         0.945          1.178          0              90             0              66
   8  Egg             -0.362         0.080          2.539          0              0              0              67
   9  Cup             -2.726         1.445          2.485          0              90             0              65
  10  Cup             -2.671         1.144          2.221          0              90             0              65
  11  Plate           -2.609         0.126          1.471          0              0              0              58
  12  Knife           -2.658         0.849          0.707          0              180            0              47
  13  SoapBottle      -2.172         0.123          0.362          0              0              0              59
  14  SaltShaker      -2.741         1.430          0.140          0              45             0              53
  15  PepperShaker    -2.608         0.818          0.129          0              0              0              47
  16  PepperShaker    -2.813         0.818          0.462          0              0              0              47
  17  Bread           -2.782         1.491          2.309          0              90             0              65
  18  Mug             -2.777         0.916          1.231          0              90             0              66
  19  Apple           -2.726         1.216          2.045          0              90             0              65
  20  Fork            -0.296         0.697          0.875          0              90             0              49
  21  Ladle           -2.540         1.893          1.926          0              0              0              41
  22  Pan             -0.244         0.829          1.684          0              0              0              46
  23  SoapBottle      -0.262         0.054          2.572          0              0              0              67
  24  Pot             -2.726         0.823          2.133          0              180            0              65
  25  Tomato          -2.837         1.495          2.045          0              90             0              65
  26  Potato          -2.782         0.863          2.485          0              90             0              65
  27  SaltShaker      -2.882         1.429          1.264          0              0              0              55
  28  Plate           -1.522         0.130          0.362          0              0              0              60
  29  Spatula         -2.608         0.838          0.500          0              0              0              47
  30  Knife           -0.092         0.849          1.214          0              0              0              47
  31  Egg             -1.709         0.847          0.059          0              0              0              47
  32  Cup             -0.477         0.823          0.658          0              0              0              47
  33  ButterKnife     -1.709         0.823          0.518          0              0              0              47
  34  Lettuce         -1.836         0.741          0.238          0              55.910         0              74
  35  PepperShaker    -0.147         0.818          0.426          0              0              0              47
  36  DishSponge      -2.784         1.434          0.293          0              45             0              53
  37  Bread           -0.979         0.855          0.249          0              29.999         0              47
  38  Spoon           -0.860         0.711          0.445          0              270            0              50
  39  Mug             -0.646         0.888          0.367          0              0              0              75
  40  Bowl            -0.397         0.115          0.914          0              0              0              63
  41  Cabinet         -2.377         2.015          1.720          0              0              0
  42  StoveBurner     -0.244         0.820          2.075          0              180            0
  43  Drawer          -0.402         0.703          1.252          0              0              0
  44  StoveBurner     -0.518         0.820          2.075          0              180            0
  45  Sink            -1.838         0.726          0.343          0              180            0
  46  StoveBurner     -0.244         0.820          1.684          0              0              0
  47  CounterTop      -1.557         0.859          0.277          0              0              0
  48  StoveBurner     -0.518         0.820          1.684          0              0              0
  49  Drawer          -0.404         0.704          0.912          0              0              0
  50  Drawer          -0.861         0.709          0.420          0              0              0
  51  Drawer          -1.133         0.706          0.418          0              0              0
  52  Drawer          -2.589         0.703          1.511          0              0              0
  53  Cabinet         -2.772         1.803          0.508          0              0              0
  54  Cabinet         -2.460         1.803          0.231          0              0              0
  55  Cabinet         -2.781         1.798          0.825          0              0              0
  56  Cabinet         -2.781         1.798          0.815          0              0              0
  57  Cabinet         -2.377         2.009          2.581          0              0              0
  58  Cabinet         -2.442         0.385          1.672          0              0              0
  59  Cabinet         -2.238         0.385          0.564          0              0              0
  60  Cabinet         -1.286         0.385          0.564          0              0              0
  61  Cabinet         -1.262         0.385          0.565          0              0              0
  62  Cabinet         -0.734         0.385          0.565          0              0              0
  63  Cabinet         -0.549         0.385          0.751          0              0              0
  64  Cabinet         -0.549         0.385          1.412          0              0              0
  65  Fridge          -2.782         0.0            2.221          0              0              0
  66  Microwave       -2.794         0.812          1.348          0              90             0
  67  GarbageCan      -0.329         2.205          2.606          0              0              0
  68  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  69  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  70  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  71  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  72  Window          -1.720         1.342          -0.208         90             0              0
  73  Toaster         -0.171         0.812          0.735          0              270            0
  74  SinkBasin       -1.745         0.687          0.295          0              0              0
  75  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  76  LightSwitch     -0.615         1.378          3.0            0              180            0
  77  Faucet          -1.686         0.954          0.176          0              236.223        0
  78  Stool           -1.008         0.008          1.955          0              18.279         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn to the left, Head to the stove | STEP 2: Pick up the yellow knife from the counter | STEP 3: Turn to the right, Head to the sink | STEP 4: Open the cabinet door under the sink | STEP 5: Put knife in cabinet | STEP 6: Take plate and knife from the cabinet | STEP 7: Put the plate and knife in the sink | END