Task: put cup 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           -1.0           0.900          0.75           0              270            0
   1  CellPhone       1.713          0.347          -0.020         0              0              0              68
   2  Ladle           -1.050         0.955          -1.318         0              0              0              72
   3  Ladle           1.760          0.739          0.672          0              0              0              73
   4  Kettle          1.765          0.938          0.384          0              180            0              75
   5  DishSponge      -0.088         0.760          -1.324         0              0              0              96
   6  DishSponge      -0.699         0.671          -1.301         0              0              0              63
   7  Fork            -0.213         0.926          0.970          0              0              0              80
   8  Spoon           -0.213         0.926          0.273          0              0              0              80
   9  Pot             -1.197         0.117          -1.487         0              0              0              84
  10  Pot             0.305          0.116          -1.471         0              0              0              61
  11  Egg             0.214          0.982          0.738          0              0              0              80
  12  Egg             -0.088         0.817          -1.546         0              0              0              96
  13  Cup             0.321          0.923          -0.190         0              0              0              80
  14  Plate           0.000          0.924          0.041          0              0              0              80
  15  Knife           0.170          0.782          -1.435         0              0              0              96
  16  Knife           -0.106         0.947          0.506          0              0              0              80
  17  SoapBottle      0.321          0.929          0.041          0              0              0              80
  18  Bowl            1.195          0.107          -1.289         0              0              0              65
  19  SaltShaker      -1.483         1.675          -1.690         0              0              0              74
  20  SaltShaker      1.862          0.221          1.022          0              0              0              81
  21  PepperShaker    -1.902         0.907          -1.113         0              0              0              72
  22  Bread           -0.106         1.006          1.202          0              0              0              80
  23  Lettuce         0.321          1.002          0.506          0              0              0              80
  24  Lettuce         0.000          1.002          0.738          0              0              0              80
  25  Apple           -0.261         0.814          -1.380         0              0              0              96
  26  Apple           -1.648         0.400          0.013          0              90             0              95
  27  SoapBottle      0.889          0.915          -1.707         0              0              0              72
  28  Cup             1.117          0.909          -1.513         0              0              0              72
  29  Pot             1.975          0.938          0.601          0              180            0              67
  30  Fork            -0.213         0.926          0.041          0              0              0              80
  31  Ladle           -0.305         0.159          -1.347         0              0              0              51
  32  Kettle          -0.990         1.680          -1.614         0              0              0              74
  33  Egg             -0.002         0.817          -1.490         0              0              0              96
  34  Plate           1.962          1.658          -1.204         0              270            0              60
  35  Pan             -1.286         0.9            -1.348         0              79.769         0              72
  36  Lettuce         -1.803         1.545          -0.175         0              90             0              95
  37  Spatula         0.214          0.940          0.041          0              90             0              80
  38  Apple           -0.320         0.978          0.970          0              0              0              80
  39  Knife           0.107          0.947          0.970          0              0              0              80
  40  SaltShaker      0.417          0.109          -1.220         0              0              0              61
  41  PepperShaker    1.760          0.691          -0.080         0              0              0              56
  42  CellPhone       0.214          0.923          0.506          0              0              0              80
  43  ButterKnife     -1.727         0.911          -0.964         0              0              0              72
  44  Bread           -0.844         0.992          -1.610         0              0              0              72
  45  Tomato          1.117          0.966          -1.221         0              0              0              72
  46  Potato          -1.818         0.066          1.371          0              270            0              86
  47  DishSponge      1.812          0.140          1.219          0              0              0              81
  48  Spoon           -1.727         0.912          -0.864         0              0              0              72
  49  Mug             2.020          1.001          -0.599         0              0              0              93
  50  Bowl            -1.803         1.467          0.013          0              90             0              95
  51  Cabinet         -0.495         0.474          -1.149         0              0              0
  52  Window          -0.010         1.582          -1.821         0              0              0
  53  Drawer          0.805          0.475          -1.159         0              0              0
  54  StoveBurner     1.764          0.902          0.601          0              270            0
  55  Drawer          1.5            0.196          -0.019         0              0              0
  56  Drawer          1.5            0.629          -0.018         0              0              0
  57  Drawer          1.5            0.602          -0.019         0              270            0
  58  StoveBurner     1.975          0.902          0.384          0              270            0
  59  Cabinet         -1.703         2.022          -1.453         0              90             0
  60  Cabinet         1.789          2.019          -0.819         0              270            0
  61  Cabinet         0.494          0.474          -1.149         0              0              0
  62  Cabinet         0.409          0.475          0.444          0              0              0
  63  Drawer          -0.696         0.475          -1.159         0              0              0
  64  Drawer          1.5            0.140          0.599          0              270            0
  65  Cabinet         1.389          0.474          -1.149         0              0              0
  66  Drawer          1.5            0.305          0.600          0              0              0
  67  StoveBurner     1.975          0.902          0.601          0              270            0
  68  Drawer          1.5            0.429          -0.019         0              0              0
  69  StoveBurner     1.764          0.902          0.819          0              270            0
  70  Drawer          1.5            0.519          1.220          0              0              0
  71  Cabinet         1.705          2.019          -1.449         0              0              0
  72  CounterTop      0.002          0.947          -1.513         0              0              0
  73  Drawer          1.5            0.629          0.605          0              0              0
  74  Cabinet         -0.627         2.019          -1.449         0              0              0
  75  StoveBurner     1.764          0.902          0.384          0              270            0
  76  Drawer          1.5            0.538          0.600          0              0              0
  77  Sink            0.0            0.893          -1.434         0              0              0
  78  Drawer          1.5            0.782          1.220          0              270            0
  79  Window          2.217          1.565          -0.384         0              0              0
  80  CounterTop      -0.014         0.961          0.505          0              0              0
  81  Drawer          1.5            0.200          1.220          0              0              0
  82  StoveBurner     1.975          0.902          0.819          0              270            0
  83  Window          -3.240         1.616          2.693          0              270            0
  84  Cabinet         -1.389         0.474          -1.149         0              0              0
  85  LightSwitch     -0.153         1.291          3.700          0              180            0
  86  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  87  StoveKnob       1.602          0.917          0.570          0              270            180
  88  StoveKnob       1.602          0.917          0.625          0              270            180
  89  StoveKnob       1.602          0.917          0.739          0              270            180
  90  StoveKnob       1.602          0.917          0.680          0              270            180
  91  StoveKnob       1.602          0.917          0.462          0              270            180
  92  StoveKnob       1.602          0.917          0.517          0              270            180
  93  Microwave       1.932          0.899          -0.766         0              270            0
  94  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  95  Fridge          -1.764         0.0            0.014          0              90             0
  96  SinkBasin       -0.014         0.736          -1.435         0              0              0
  97  Toaster         1.977          0.900          -0.336         0              270            0
  98  Faucet          -0.020         1.137          -1.605         0              270            0
  99  Chair           -9.354         0.000          1.242          0              180            0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: walk to face counter to right of fridge | STEP 2: pick up butter knife from counter | STEP 3: walk to face kitchen island counter above oven | STEP 4: put knife into cup on counter | STEP 5: pick up cup from counter | STEP 6: turn to face sink | STEP 7: put cup in sink basin | END