Task: Place a cup containing a knife 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           -3.5           0.900          0.25           0              0              0
   1  Potato          -2.510         0.915          3.728          0              0              0              55
   2  Potato          -0.844         0.229          2.213          0              90             0              83
   3  DishSponge      1.365          2.155          -1.675         0              0              0              51
   4  ButterKnife     0.014          0.928          -1.501         0              270            0              50
   5  ButterKnife     0.179          0.928          -1.718         0              270            0              50
   6  Kettle          3.689          0.553          1.449          0              270            0              76
   7  Spatula         -1.616         0.732          -1.073         0              90             0              68
   8  Spatula         -2.152         0.889          3.370          0              270            0              55
   9  Pot             0.974          0.957          -1.688         0              180            0              52
  10  Spoon           -1.627         0.913          0.363          0              0              0              53
  11  Egg             -0.149         0.828          2.308          0              180            0              78
  12  Plate           -3.002         0.882          3.355          0              135            0              55
  13  Plate           -2.807         0.882          3.728          0              0              0              55
  14  SoapBottle      -2.697         0.879          3.498          0              315            0              55
  15  SoapBottle      3.634          0.881          1.656          0              270            0              74
  16  Tomato          0.079          1.619          1.981          0              180            0              78
  17  Tomato          -2.490         0.925          3.073          0              270            0              55
  18  SaltShaker      0.663          0.908          -1.369         0              0              0              53
  19  Bread           -2.072         0.995          -1.265         0              0              0              53
  20  Apple           1.263          1.816          -1.629         0              0              0              77
  21  Book            -2.807         0.875          2.715          0              0              0              55
  22  Fork            -0.040         0.929          -1.646         0              270            0              50
  23  Tomato          -0.871         0.240          2.058          0              90             0              83
  24  Egg             -0.377         0.414          1.996          0              180            0              78
  25  Kettle          -2.405         0.879          2.758          0              135            0              55
  26  Vase            1.687          0.911          -1.346         0              0              0              73
  27  Cup             -0.263         0.801          2.194          0              180            0              78
  28  WineBottle      3.743          0.881          1.963          0              270            0              74
  29  Plate           -1.649         0.123          -0.916         0              0              0              58
  30  Spatula         -2.964         0.889          3.632          0              225            0              55
  31  Potato          -0.255         0.733          -1.468         0              270            0              82
  32  Pot             0.974          0.957          -1.419         0              180            0              71
  33  Knife           1.760          0.932          -1.618         0              90             0              73
  34  SaltShaker      1.703          0.716          -1.443         0              0              0              69
  35  PepperShaker    -1.516         0.908          -1.265         0              0              0              53
  36  Lettuce         -0.149         1.208          2.206          0              180            0              78
  37  ButterKnife     -2.490         0.874          3.221          0              270            0              55
  38  Bread           -2.367         0.958          3.408          0              225            0              55
  39  Vase            -1.388         1.658          -1.674         0              0              0              66
  40  DishSponge      -2.013         0.119          -1.360         0              0              0              58
  41  Apple           -0.367         0.752          -1.468         0              270            0              82
  42  Pan             0.079          0.802          2.194          0              180            0              78
  43  Spoon           0.124          0.929          -1.501         0              270            0              50
  44  SoapBottle      -1.516         0.912          0.363          0              0              0              53
  45  Mug             0.571          0.907          -1.674         0              0              0              53
  46  Statue          -2.353         0.881          3.632          0              315            0              55
  47  Statue          3.668          0.540          1.800          0              0              0              76
  48  Bowl            -1.849         0.910          -0.614         0              0              0              53
  49  Cabinet         -2.171         2.009          -1.538         0              0              0
  50  Sink            0.024          0.771          -1.708         0              270            0
  51  Cabinet         1.444          2.259          -1.542         0              0              0
  52  StoveBurner     0.974          0.957          -1.688         0              180            0
  53  CounterTop      -1.866         0.947          -0.614         0              0              0
  54  Cabinet         -2.217         0.373          -1.874         0              0              0
  55  DiningTable     -2.663         0.002          3.208          0              0              0
  56  StoveBurner     1.328          0.957          -1.688         0              180            0
  57  StoveBurner     1.328          0.957          -1.420         0              180            0
  58  Cabinet         -1.478         0.373          -1.235         0              0              0
  59  Cabinet         1.775          0.372          -1.242         0              0              0
  60  Cabinet         0.774          0.372          -1.242         0              0              0
  61  Cabinet         0.375          0.372          -1.242         0              0              0
  62  Cabinet         -0.574         0.372          -1.238         0              0              0
  63  Cabinet         1.775          2.009          -1.542         0              0              0
  64  Cabinet         0.524          2.009          -1.542         0              0              0
  65  Cabinet         -0.714         2.009          -1.542         0              0              0
  66  Cabinet         -1.671         2.009          -1.538         0              0              0
  67  Cabinet         0.854          2.259          -1.542         0              0              0
  68  Drawer          -1.636         0.683          -0.930         0              0              0
  69  Drawer          1.650          0.682          -1.396         0              0              0
  70  Drawer          0.600          0.682          -1.396         0              0              0
  71  StoveBurner     0.974          0.957          -1.419         0              180            0
  72  Drawer          -2.062         0.683          -1.579         0              0              0
  73  CounterTop      1.645          0.945          -1.527         0              0              0
  74  Shelf           3.725          0.880          1.671          0              90             0
  75  LightSwitch     2.830          1.266          -0.748         0              0              0
  76  Shelf           3.726          0.552          1.671          0              90             0
  77  Microwave       1.150          1.655          -1.614         0              0              0
  78  Fridge          -0.035         0.0            2.177          0              180            0
  79  Window          -0.115         1.802          -1.896         90             0              0
  80  Window          -4.009         1.799          0.310          90             90             0
  81  Shelf           3.726          0.172          1.671          0              90             0
  82  SinkBasin       -0.330         0.686          -1.581         0              270            0
  83  GarbageCan      -0.870         -0.001         2.136          0              90             0
  84  StoveKnob       1.089          0.913          -1.243         45             0              0
  85  StoveKnob       1.208          0.913          -1.243         45             0              0
  86  StoveKnob       1.340          0.913          -1.243         45             0              0
  87  StoveKnob       0.961          0.913          -1.243         45             0              0
  88  Toaster         1.637          0.900          -1.673         0              0              0
  89  Chair           -3.505         0.002          3.290          0              105.736        0
  90  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  91  HousePlant      -2.663         0.835          3.209          0              0              0
  92  Faucet          -0.187         0.922          -1.75          0              311.166        0
  93  ShelvingUnit    3.726          0.006          1.671          0              90             0
  94  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  95  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  96  Chair           -2.934         0.002          2.437          0              28.531         0
  97  Chair           -1.698         0.002          3.235          0              245.204        0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn right and move past the counter on the right and then turn left and face the refrigerator once past the green recycling bin. | STEP 2: Open the refrigerator, pick up the amber cup to the left of the pan from the center shelf, then close the refrigerator door.  | STEP 3: Turn around and move to the sink between the range and the dishwasher. | STEP 4: Place the amber cup to the rear of the drain in the sink. | STEP 5: From the area to the left of the sink, pick up the knife between the spoon and the fork. | STEP 6: Place the knife in the cup in the sink. | END