Task: put a knife in the cup and put both 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           -2.25          0.900          2.5            0              270            0
   1  Ladle           -0.771         1.164          0.296          0              0              0              59
   2  Ladle           -0.662         1.087          2.369          0              0              0              47
   3  Fork            -3.814         1.125          0.379          0              0              0              54
   4  Spatula         -0.292         1.062          1.920          0              90             0              47
   5  Spatula         -2.262         1.139          0.473          0              90             0              57
   6  Egg             -2.388         1.155          0.284          0              0              0              57
   7  Egg             -1.473         1.184          0.082          0              0              0              44
   8  Cup             -1.274         0.047          0.664          0              0              0              51
   9  Knife           -1.553         0.963          0.359          0              180            0              69
  10  Knife           -0.715         1.157          0.659          0              0              0              59
  11  Tomato          -0.415         1.088          2.369          0              0              0              47
  12  Tomato          -2.011         1.165          0.662          0              0              0              57
  13  Bowl            -0.908         1.044          3.266          0              0              0              47
  14  Bowl            -0.908         1.045          2.144          0              0              0              47
  15  PepperShaker    -2.545         0.091          0.613          0              0              0              50
  16  Bread           -0.662         1.133          3.042          0              0              0              47
  17  Mug             -3.639         1.555          3.061          0              90             0              64
  18  Apple           -1.288         0.998          0.636          0              0              0              69
  19  Apple           -0.662         1.114          1.920          0              0              0              47
  20  Fork            -0.785         1.047          2.144          0              90             0              47
  21  SoapBottle      -3.542         0.113          2.008          0              0              0              68
  22  Pot             -3.475         1.133          0.227          0              90             0              43
  23  Ladle           -2.514         1.164          0.567          0              0              0              57
  24  Potato          -3.373         1.317          2.778          0              90             0              64
  25  Plate           -1.193         0.921          0.403          0              0              0              69
  26  Bread           -0.183         1.119          1.892          0              0              0              47
  27  Lettuce         -0.538         1.125          2.144          0              0              0              47
  28  Spatula         -0.662         1.063          2.817          0              270            0              47
  29  Pan             -0.266         1.038          2.561          0              0              0              47
  30  Egg             -1.568         1.184          0.095          0              0              0              44
  31  Cup             -0.538         1.045          2.593          0              0              0              47
  32  SaltShaker      -2.403         0.092          0.646          0              0              0              50
  33  Knife           -0.715         1.157          0.478          0              0              0              59
  34  Bowl            -1.156         0.047          0.494          0              0              0              51
  35  PepperShaker    -2.388         1.121          0.567          0              0              0              57
  36  ButterKnife     -0.785         1.048          2.593          0              0              0              47
  37  Apple           -3.506         1.629          3.061          0              90             0              64
  38  Tomato          -0.908         1.088          3.042          0              0              0              47
  39  DishSponge      -2.639         1.124          0.284          0              0              0              57
  40  Spoon           -0.538         1.049          1.920          0              0              0              47
  41  Mug             -3.639         1.555          2.849          0              90             0              64
  42  StoveKnob       -3.322         1.053          0.709          45             0              0
  43  StoveBurner     -3.474         1.097          0.227          0              180            0
  44  Sink            -1.394         0.982          0.439          0              0              0
  45  StoveBurner     -3.474         1.097          0.479          0              180            0
  46  StoveKnob       -3.164         1.053          0.709          45             0              0
  47  DiningTable     -0.620         0.017          2.486          0              0              0
  48  Drawer          -2.043         0.608          0.594          0              0              0
  49  Drawer          -2.043         0.216          0.594          0              0              0
  50  Drawer          -2.498         0.216          0.594          0              0              0
  51  Cabinet         -1.001         0.393          0.734          0              0              0
  52  StoveBurner     -3.000         1.097          0.480          0              0              0
  53  StoveKnob       -3.492         1.053          0.709          45             0              0
  54  CounterTop      -3.856         1.160          0.379          0              0              0
  55  Drawer          -2.043         0.937          0.599          0              0              0
  56  Drawer          -2.509         0.937          0.599          0              0              0
  57  CounterTop      -2.280         1.160          0.379          0              0              0
  58  StoveKnob       -2.985         1.053          0.709          45             0              0
  59  CounterTop      -0.514         1.160          0.492          0              0              0
  60  Drawer          -2.498         0.608          0.594          0              0              0
  61  StoveBurner     -3.000         1.097          0.227          0              0              0
  62  Cabinet         -1.733         0.393          0.734          0              0              0
  63  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  64  Fridge          -3.519         0.0            2.717          0              90             0
  65  Window          -1.394         1.924          0.014          90             0              0
  66  Window          -3.266         1.924          0.014          90             0              0
  67  Toaster         -0.225         1.038          2.865          0              270            0
  68  GarbageCan      -3.696         0.002          2.008          0              0              0
  69  SinkBasin       -1.389         0.921          0.428          0              0              0
  70  Microwave       -0.366         1.113          0.430          0              0              0
  71  HousePlant      -2.155         1.101          0.169          0              332.897        0
  72  LightSwitch     -2.584         1.299          3.5            0              180            0
  73  Faucet          -1.393         1.373          0.168          0              270            0
  74  NorthWall
  75  SouthWall
  76  SouthWall

Plan:
STEP 1:  go to the table | STEP 2: pick up the knife | STEP 3: put the knife in the glass | STEP 4: pick up the glass | STEP 5: take the glass to the sink | STEP 6: put the glass in the sink | END