Task: put knife into glass on counter in front of 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          -0.25          0              90             0
   1  Pan             -2.081         1.502          0.925          0              180            0              94
   2  Plate           -1.438         0.908          -2.637         0              0              0              86
   3  Egg             -1.797         0.804          -1.242         0              90             0              96
   4  SaltShaker      0.836          0.477          -2.429         0              0              0              69
   5  SaltShaker      0.778          0.138          -2.431         0              0              0              81
   6  PepperShaker    -1.805         0.132          -1.623         0              90             0              62
   7  PepperShaker    0.892          0.138          -2.334         0              0              0              81
   8  Bread           1.098          0.983          -2.407         0              0              0              63
   9  Bread           -0.197         1.184          -0.001         0              0              0              61
  10  Lettuce         0.217          1.191          0.251          0              0              0              61
  11  Lettuce         -0.848         0.991          -2.560         0              0              0              86
  12  Apple           -1.852         0.820          -1.760         0              90             0              96
  13  Fork            -1.696         0.154          -0.245         0              90             0              84
  14  Fork            -0.335         1.112          -0.506         0              0              0              61
  15  Mug             -1.856         0.906          -2.036         0              0              0              86
  16  Spatula         1.123          0.330          -2.286         0              270            0              65
  17  Spatula         -0.335         1.126          -0.253         0              0              0              61
  18  ButterKnife     -1.963         0.769          -1.673         0              270            0              96
  19  ButterKnife     0.582          0.910          -2.253         0              0              0              63
  20  Glassbottle     -2.018         0.770          -1.242         0              90             0              96
  21  WineBottle      0.450          0.141          -2.387         0              0              0              78
  22  WineBottle      2.096          0.881          -2.590         0              180            0              88
  23  DishSponge      -1.907         0.047          2.076          0              270            0              92
  24  DishSponge      0.837          0.776          -2.463         0              0              0              57
  25  Bowl            -2.038         0.537          1.251          0              90             0              94
  26  Book            0.155          1.1            0.617          0              315            0              61
  27  Glassbottle     -1.999         0.227          0.837          0              90             0              94
  28  Knife           0.840          0.936          -2.407         0              180            0              63
  29  Bread           -0.059         1.184          -0.253         0              0              0              61
  30  Fork            -1.143         0.911          -2.329         0              0              0              86
  31  Potato          -1.962         0.078          2.172          0              270            0              92
  32  SoapBottle      -0.197         1.112          0.757          0              0              0              61
  33  Kettle          -0.465         0.950          -2.576         0              90             0              70
  34  Pan             0.721          0.9            -2.415         0              0              0              63
  35  Plate           0.324          0.907          -2.484         0              0              0              63
  36  Tomato          -0.335         1.150          0.251          0              0              0              61
  37  Vase            2.042          0.540          -2.495         0              0              0              91
  38  Egg             0.969          0.945          -2.484         0              0              0              63
  39  CreditCard      0.950          0.139          -2.382         0              0              0              81
  40  Statue          0.079          1.110          -0.759         0              0              0              61
  41  WineBottle      -0.473         1.112          -0.506         0              0              0              61
  42  Pot             -0.036         0.950          -2.576         0              270            0              64
  43  Spatula         0.836          0.330          -2.286         0              270            0              65
  44  PaperTowelRoll  1.685          0.657          -2.718         0              180            0              91
  45  Cup             1.119          1.658          -2.673         0              0              0              83
  46  Vase            -1.705         0.133          -1.506         0              90             0              62
  47  Bowl            0.079          1.108          -0.001         0              0              0              61
  48  SaltShaker      1.891          0.877          -2.617         0              180            0              88
  49  PepperShaker    1.993          0.877          -2.563         0              180            0              88
  50  Lettuce         0.355          1.191          -0.506         0              0              0              61
  51  ButterKnife     -0.335         1.111          0.504          0              0              0              61
  52  Apple           -0.070         1.841          -2.514         0              0              0              87
  53  DishSponge      -1.962         0.047          1.933          0              270            0              92
  54  Spoon           -1.781         0.479          -0.245         0              90             0              76
  55  Mug             -1.731         0.956          -0.168         0              90             0              95
  56  StoveBurner     -0.036         0.915          -2.372         0              0              0
  57  Drawer          0.949          0.832          -2.197         0              0              0
  58  Drawer          -1.560         0.839          0.204          0              90             0
  59  StoveBurner     -0.465         0.915          -2.371         0              180            0
  60  Drawer          -1.560         0.839          -0.197         0              90             0
  61  CounterTop      -0.079         1.147          -0.001         0              0              0
  62  Cabinet         -1.549         0.494          -1.964         0              90             0
  63  CounterTop      0.693          0.946          -2.483         0              0              0
  64  StoveBurner     -0.036         0.915          -2.576         0              0              0
  65  Drawer          0.949          0.393          -2.200         0              0              0
  66  Drawer          0.949          0.708          -2.200         0              0              0
  67  Cabinet         -1.549         0.494          0.379          0              90             0
  68  StoveKnob       -0.022         0.881          -2.187         45             0              0
  69  Drawer          0.949          0.560          -2.201         0              0              0
  70  StoveBurner     -0.465         0.915          -2.575         0              180            0
  71  Window          -2.230         1.429          -1.203         0              0              0
  72  StoveKnob       -0.483         0.881          -2.187         45             0              0
  73  Sink            -1.899         0.964          -1.5           0              90             0
  74  StoveKnob       -0.328         0.881          -2.187         45             0              0
  75  Cabinet         -0.727         2.015          -2.460         0              0              0
  76  Drawer          -1.560         0.655          -0.196         0              90             0
  77  Cabinet         -1.685         2.015          -2.461         0              0              0
  78  Cabinet         0.680          0.494          -2.200         0              0              0
  79  Cabinet         -1.179         0.494          -2.200         0              0              0
  80  Cabinet         -1.849         2.015          0.379          0              90             0
  81  Drawer          0.949          0.221          -2.200         0              0              0
  82  StoveKnob       -0.183         0.881          -2.187         45             0              0
  83  Cabinet         0.719          2.015          -2.460         0              0              0
  84  Drawer          -1.560         0.331          -0.196         0              90             0
  85  Cabinet         0.680          2.015          -2.460         0              0              0
  86  CounterTop      -1.868         0.946          -1.205         0              0              0
  87  Microwave       -0.236         1.689          -2.525         0              0              0
  88  Shelf           1.751          0.880          -2.560         0              0              0
  89  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  90  Toaster         -1.835         0.900          0.134          0              90             0
  91  Shelf           1.750          0.552          -2.559         0              0              0
  92  GarbageCan      -1.935         -0.002         2.029          0              270            0
  93  Shelf           1.750          0.172          -2.559         0              0              0
  94  Fridge          -2.096         0.0            1.088          0              0              0
  95  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  96  SinkBasin       -1.908         0.759          -1.488         0              90             0
  97  LightSwitch     2.329          1.309          -0.159         0              270            0
  98  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  99  Stool           0.702          0.000          -0.514         1.202          65.108         0
 100  Stool           0.743          0.000          0.563          1.227          106.706        0
 101  Faucet          -2.070         1.132          -1.514         0              0              0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: walk to face cabinets to right side of ladder | STEP 2: take out glass from cabinet | STEP 3: walk to face sink | STEP 4: put glass on counter in front of sink | STEP 5: pick up knife from sink | STEP 6: put knife into glass on counter in front of sink | END