Task: place a glass cup with a knife in it 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           0.5            0.901          0.75           0              0              0
   1  WineBottle      2.167          1.502          2.514          0              0              0              50
   2  WineBottle      2.301          0.939          0.361          0              0              0              68
   3  Ladle           1.850          0.790          1.922          0              90             0              72
   4  DishSponge      1.840          0.937          0.509          0              0              0              68
   5  DishSponge      -0.195         0.937          2.425          0              0              0              57
   6  ButterKnife     1.170          0.795          2.64           0              0              0              81
   7  Pot             1.866          0.935          1.504          0              180            0              61
   8  Spatula         -0.042         0.805          1.217          0              90             0              84
   9  Spatula         1.976          0.760          0.514          0              90             0              66
  10  Spoon           -0.196         0.792          1.217          0              0              0              84
  11  Fork            -0.042         0.791          0.713          0              0              0              84
  12  Egg             -0.425         0.980          2.425          0              0              0              57
  13  Cup             0.033          0.789          0.545          0              0              0              84
  14  Cup             -0.294         1.034          2.068          0              90             0              82
  15  Knife           -0.196         0.816          1.049          0              0              0              84
  16  Tomato          2.112          1.367          -0.369         0              270            0              78
  17  Bowl            -0.349         0.787          0.881          0              0              0              84
  18  Bowl            -0.349         0.787          1.217          0              0              0              84
  19  SaltShaker      2.304          0.932          2.162          0              0              0              57
  20  SaltShaker      2.244          1.496          1.916          0              0              0              60
  21  Lettuce         2.059          0.400          -0.279         0              270            0              78
  22  Mug             2.122          0.597          -0.550         0              270            0              78
  23  Mug             -0.395         1.030          1.907          0              180            0              82
  24  Apple           2.279          1.371          -0.550         0              270            0              78
  25  Apple           -0.119         0.840          0.377          0              0              0              84
  26  Egg             -0.390         0.079          -0.832         0              90             0              79
  27  Lettuce         -0.042         0.852          1.049          0              90             0              84
  28  Fork            -0.042         0.791          0.377          0              90             0              84
  29  SoapBottle      1.880          1.503          2.843          0              0              0              58
  30  Ladle           1.954          0.790          2.197          0              270            0              72
  31  Ladle           -0.041         0.125          2.061          0              0              0              51
  32  Bread           2.127          1.567          -0.188         0              270            0              78
  33  SaltShaker      0.423          0.076          2.523          0              0              0              64
  34  Potato          2.024          1.559          -0.007         0              270            0              78
  35  Pan             2.140          0.935          1.106          0              0              0              59
  36  WineBottle      -0.272         0.791          1.386          0              0              0              84
  37  Spatula         0.037          0.761          1.925          0              90             0              56
  38  Knife           1.872          0.772          0.721          0              270            0              66
  39  Tomato          0.735          0.848          2.695          0              0              0              81
  40  Apple           0.788          0.845          2.584          0              0              0              81
  41  ButterKnife     2.150          0.937          2.063          0              0              0              57
  42  Pot             2.164          0.602          -0.188         0              0              0              78
  43  PepperShaker    0.032          0.076          2.129          0              0              0              51
  44  Cup             0.288          0.935          2.688          0              0              0              57
  45  DishSponge      0.174          0.937          2.548          0              0              0              57
  46  Plate           -0.312         0.781          0.409          0              0              0              84
  47  Spoon           -0.138         0.747          1.925          0              90             0              56
  48  Mug             -0.396         0.932          2.548          0              0              0              57
  49  Bowl            2.076          1.515          -0.460         0              270            0              78
  50  Cabinet         2.041          2.113          2.618          0              0              0
  51  Cabinet         0.126          0.388          1.774          0              0              0
  52  StoveBurner     2.140          0.929          1.504          0              180            0
  53  Cabinet         1.760          0.388          2.346          0              0              0
  54  Cabinet         1.760          0.388          0.869          0              0              0
  55  Cabinet         2.041          1.810          0.283          0              0              0
  56  Drawer          -0.024         0.774          2.061          0              0              0
  57  CounterTop      1.065          0.973          2.666          0              0              0
  58  Cabinet         1.969          2.113          2.618          0              0              0
  59  StoveBurner     2.140          0.929          1.106          0              0              0
  60  Cabinet         2.041          2.113          1.809          0              0              0
  61  StoveBurner     1.866          0.929          1.504          0              180            0
  62  Cabinet         2.041          2.113          1.766          0              0              0
  63  Cabinet         1.514          0.388          2.360          0              0              0
  64  Cabinet         0.351          0.388          2.360          0              0              0
  65  Cabinet         2.041          1.810          0.872          0              0              0
  66  Drawer          2.167          0.774          0.582          0              0              0
  67  Cabinet         2.041          2.113          0.892          0              0              0
  68  CounterTop      2.060          0.973          0.583          0              0              0
  69  Sink            0.935          0.936          2.646          0              0              0
  70  Curtains        0.964          2.061          2.989          0              0              0
  71  StoveBurner     1.863          0.929          1.106          0              0              0
  72  Drawer          1.911          0.774          2.060          0              0              0
  73  StoveKnob       2.326          1.092          1.610          288.013        90             0
  74  StoveKnob       2.326          1.092          1.460          288.013        90             0
  75  StoveKnob       2.326          1.092          1.210          288.013        90             0
  76  StoveKnob       2.326          1.092          1.050          288.013        90             0
  77  Toaster         2.126          0.926          0.572          0              270            0
  78  Fridge          2.104          0.0            -0.279         0              270            0
  79  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  80  LightSwitch     0.354          1.518          -1.031         0              0              0
  81  SinkBasin       0.903          0.784          2.640          0              0              0
  82  Microwave       -0.310         0.926          2.077          0              90             0
  83  CoffeeMachine   2.084          0.927          2.667          0              225            0
  84  DiningTable     -0.153         -0.000         1.073          0              270            0
  85  Faucet          1.175          0.926          2.950          270            90             0
  86  Faucet          0.686          0.926          2.950          270            90             0
  87  Chair           -0.077         0.002          0.196          0              15.000         0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: move forward to the sink | STEP 2: pick up the knife  | STEP 3: move to the left side of the sink | STEP 4: place the knife in the glass cup | STEP 5: pick up the glass cup | STEP 6: move right to the sink | STEP 7: place the glass cup in the sink | END