Task: get a cup with a knife in it inside 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           1.0            0.900          -0.5           0              270            0
   1  Pan             1.543          0.909          -0.320         0              90             0              46
   2  Potato          -0.644         1.723          -1.629         0              0              0              70
   3  Ladle           1.501          0.954          1.004          0              270            0              43
   4  ButterKnife     0.989          0.910          0.915          0              90             0              43
   5  DishSponge      1.656          0.910          -1.717         0              90             0              47
   6  DishSponge      0.989          0.910          0.827          0              90             0              43
   7  Fork            1.757          0.911          1.004          0              90             0              43
   8  Fork            1.607          0.911          0.570          0              180            0              43
   9  Spoon           1.865          0.912          -1.374         0              90             0              47
  10  Spatula         1.516          0.926          -1.288         0              270            0              47
  11  Plate           -0.790         0.748          -1.594         0              0              0              70
  12  Knife           1.726          0.943          -1.631         0              180            0              47
  13  Tomato          1.800          0.134          1.779          0              270            0              61
  14  Tomato          1.451          0.974          0.518          0              90             0              43
  15  SaltShaker      1.757          0.905          0.915          0              90             0              43
  16  SaltShaker      1.841          1.648          -0.497         0              0              0              54
  17  Bread           0.220          0.987          0.739          0              90             0              43
  18  Mug             0.502          0.940          -1.460         0              0              0              69
  19  Apple           1.796          0.968          -1.460         0              90             0              47
  20  Apple           0.963          0.817          -1.654         0              0              0              62
  21  Plate           1.805          1.634          -0.901         0              0              0              55
  22  SoapBottle      0.159          0.909          -1.263         0              90             0              47
  23  Cup             1.170          0.758          -1.654         0              0              0              62
  24  Egg             1.709          0.105          1.827          0              270            0              61
  25  Fork            1.607          0.911          0.467          0              180            0              43
  26  Ladle           1.201          0.926          0.743          3.359          0              346.986        43
  27  Apple           -0.692         1.148          -1.664         0              0              0              70
  28  SaltShaker      1.012          0.906          -1.230         0              90             0              47
  29  Pan             1.807          0.909          -0.320         0              180            0              45
  30  Tomato          1.796          0.975          -1.802         0              90             0              47
  31  Spatula         1.865          0.926          -1.288         0              0              0              47
  32  Potato          -0.644         0.500          -1.605         0              0              0              70
  33  Knife           0.476          0.943          1.004          0              90             0              43
  34  ButterKnife     0.296          0.9            -1.296         0              14.568         0              47
  35  Bread           1.615          0.977          0.761          0              50.525         0              43
  36  Lettuce         1.245          1.010          0.915          0              90             0              43
  37  PepperShaker    1.805          1.648          -0.353         0              0              0              54
  38  Pot             1.534          0.908          0.058          0              195.000        0              49
  39  DishSponge      1.809          2.135          1.083          0              0              0              50
  40  Spoon           1.726          0.912          -1.545         0              180            0              47
  41  Bowl            1.805          1.644          -1.724         0              0              0              57
  42  Mug             1.501          0.905          1.092          0              90             0              43
  43  CounterTop      0.989          0.946          1.016          0              90             0
  44  StoveBurner     1.807          0.907          0.075          0              180            0
  45  StoveBurner     1.807          0.907          -0.320         0              180            0
  46  StoveBurner     1.543          0.907          -0.320         0              90             0
  47  CounterTop      0.989          0.946          -1.516         0              90             0
  48  Sink            1.100          0.906          -1.599         0              0              0
  49  StoveBurner     1.548          0.907          0.075          0              180            0
  50  Cabinet         1.658          2.299          1.313          0              0              0
  51  Cabinet         1.658          2.299          0.686          0              0              0
  52  Cabinet         1.658          2.049          0.673          0              0              0
  53  Cabinet         1.658          2.059          0.193          0              0              0
  54  Cabinet         1.658          2.059          -0.593         0              0              0
  55  Cabinet         1.658          2.049          -0.606         0              0              0
  56  Cabinet         1.658          2.049          -1.206         0              0              0
  57  Cabinet         1.658          2.049          -1.893         0              0              0
  58  Toaster         0.131          0.900          -1.589         0              0              0
  59  Window          -0.372         1.588          3.349          90             0              0
  60  Window          0.782          1.741          -1.893         90             0              0
  61  GarbageCan      1.770          -0.029         1.685          0              270            0
  62  SinkBasin       1.091          0.740          -1.599         0              0              0
  63  StoveKnob       1.364          0.821          0.086          48.421         270            0
  64  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  65  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  66  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  67  Microwave       1.752          0.900          -0.843         0              270            0
  68  LightSwitch     2.0            1.261          3.094          0              270            0
  69  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  70  Fridge          -0.533         0.0            -1.554         0              0              0
  71  Chair           1.068          0.000          1.752          0              191.622        0
  72  Faucet          1.110          1.138          -1.764         0              270            0
  73  Chair           0.357          0.000          1.710          0              178.899        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: walk over to the kitchen sink | STEP 2: grab the knife off the kitchen counter to the left of the sink | STEP 3: back up and move to the right to face the coffee maker | STEP 4: place the knife inside of the cup under the coffee maker | STEP 5: pick up the cup under the coffee maker | STEP 6: back up a bit and move over to face the sink on the left | STEP 7: place the cup inside of the sink | END