Task: drop 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          -0.25          0              90             0
   1  Potato          2.079          0.642          -0.097         0              270            0              75
   2  WineBottle      2.282          1.502          2.010          0              0              0              57
   3  WineBottle      0.060          0.938          2.827          0              0              0              54
   4  DishSponge      1.964          0.081          1.915          0              0              0              50
   5  ButterKnife     1.917          0.938          0.583          0              180            0              65
   6  ButterKnife     -0.042         0.791          1.049          0              0              0              81
   7  ButterKnife     1.790          0.937          2.821          0              180            0              54
   8  Pot             1.156          0.081          2.523          0              270            0              60
   9  Spatula         -0.425         0.805          0.545          0              90             0              81
  10  Spoon           1.906          0.746          0.446          0              0              0              63
  11  Spoon           1.906          0.746          0.652          0              0              0              63
  12  Fork            0.033          0.791          0.713          0              90             0              81
  13  Fork            -0.196         0.791          1.386          0              0              0              81
  14  Tomato          2.137          0.907          -0.007         0              270            0              75
  15  Tomato          2.000          1.367          -0.007         0              270            0              75
  16  Bowl            2.122          0.599          -0.278         0              270            0              75
  17  SaltShaker      2.091          1.496          2.469          0              90             0              47
  18  SaltShaker      2.244          1.496          2.381          0              0              0              47
  19  PepperShaker    2.165          1.498          0.725          0              0              0              62
  20  PepperShaker    2.301          0.933          0.361          0              0              0              65
  21  Lettuce         2.168          1.383          -0.369         0              270            0              75
  22  Apple           -0.042         0.840          0.713          0              0              0              81
  23  Egg             -0.261         1.078          1.907          0              90             0              79
  24  Lettuce         -0.396         0.999          2.688          0              270            0              54
  25  Fork            -0.349         0.791          0.377          0              0              0              81
  26  SoapBottle      0.033          0.791          0.377          0              0              0              81
  27  Ladle           0.779          0.125          2.523          0              0              0              61
  28  Ladle           -0.096         0.942          2.546          6.888          45             340.409        54
  29  Bread           -0.200         0.824          0.813          0              0              0              81
  30  SaltShaker      -0.119         0.785          1.049          0              0              0              81
  31  Potato          0.629          0.835          2.750          0              0              0              78
  32  Pan             2.140          0.935          1.504          0              180            0              49
  33  WineBottle      1.840          0.939          0.731          0              0              0              65
  34  Spatula         1.065          0.810          2.529          0              90             0              78
  35  Knife           -0.042         0.816          0.377          0              0              0              81
  36  Tomato          1.840          0.984          0.583          0              0              0              65
  37  Apple           -0.261         1.085          2.121          0              90             0              79
  38  ButterKnife     -0.349         0.782          0.713          0              0              0              81
  39  Pot             1.854          0.937          1.497          0              0              0              58
  40  PepperShaker    1.917          0.933          0.361          0              0              0              65
  41  Cup             0.288          0.935          2.548          0              0              0              54
  42  DishSponge      -0.196         0.790          0.545          0              0              0              81
  43  Plate           2.059          0.342          -0.369         0              270            0              75
  44  Spoon           -0.272         0.792          1.217          0              0              0              81
  45  Mug             2.281          1.943          1.097          0              0              0              64
  46  Bowl            2.112          1.320          -0.188         0              270            0              75
  47  Cabinet         2.041          2.113          2.618          0              0              0
  48  Cabinet         0.126          0.388          1.774          0              0              0
  49  StoveBurner     2.140          0.929          1.504          0              180            0
  50  Cabinet         1.760          0.388          2.346          0              0              0
  51  Cabinet         1.760          0.388          0.869          0              0              0
  52  Cabinet         2.041          1.810          0.283          0              0              0
  53  Drawer          -0.024         0.774          2.061          0              0              0
  54  CounterTop      1.065          0.973          2.666          0              0              0
  55  Cabinet         1.969          2.113          2.618          0              0              0
  56  StoveBurner     2.140          0.929          1.106          0              0              0
  57  Cabinet         2.041          2.113          1.809          0              0              0
  58  StoveBurner     1.866          0.929          1.504          0              180            0
  59  Cabinet         2.041          2.113          1.766          0              0              0
  60  Cabinet         1.514          0.388          2.360          0              0              0
  61  Cabinet         0.351          0.388          2.360          0              0              0
  62  Cabinet         2.041          1.810          0.872          0              0              0
  63  Drawer          2.167          0.774          0.582          0              0              0
  64  Cabinet         2.041          2.113          0.892          0              0              0
  65  CounterTop      2.060          0.973          0.583          0              0              0
  66  Sink            0.935          0.936          2.646          0              0              0
  67  Curtains        0.964          2.061          2.989          0              0              0
  68  StoveBurner     1.863          0.929          1.106          0              0              0
  69  Drawer          1.911          0.774          2.060          0              0              0
  70  StoveKnob       2.326          1.092          1.610          288.013        90             0
  71  StoveKnob       2.326          1.092          1.460          288.013        90             0
  72  StoveKnob       2.326          1.092          1.210          288.013        90             0
  73  StoveKnob       2.326          1.092          1.050          288.013        90             0
  74  Toaster         2.126          0.926          0.572          0              270            0
  75  Fridge          2.104          0.0            -0.279         0              270            0
  76  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  77  LightSwitch     0.354          1.518          -1.031         0              0              0
  78  SinkBasin       0.903          0.784          2.640          0              0              0
  79  Microwave       -0.310         0.926          2.077          0              90             0
  80  CoffeeMachine   2.084          0.927          2.667          0              225            0
  81  DiningTable     -0.153         -0.000         1.073          0              270            0
  82  Faucet          1.175          0.926          2.950          270            90             0
  83  Faucet          0.686          0.926          2.950          270            90             0
  84  Chair           -0.077         0.002          0.196          0              15.000         0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: move left towards the sink | STEP 2: pick up the knife from the sink | STEP 3: move left to the glass cup | STEP 4: drop the knife in the glass cup | STEP 5: pick up the glass cup | STEP 6: move right to the sink | STEP 7: drop the glass cup in the sink | END