Task: Place a cup with a knife in it in a sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          1.0            0              180            0
   1  Pan             -0.244         0.829          1.684          0              0              0              43
   2  Potato          -2.877         0.960          1.125          0              0              0              63
   3  DishSponge      -2.563         0.692          1.474          0              0              0              49
   4  ButterKnife     -1.876         0.823          0.528          0              0              0              44
   5  Fork            -0.813         0.828          0.129          0              0              343.128        44
   6  Spoon           -0.817         0.824          0.500          0              0              0              44
   7  Egg             -2.890         0.847          0.462          0              0              0              44
   8  Egg             -2.711         0.945          1.443          0              90             0              63
   9  Tomato          -2.782         1.193          2.485          0              90             0              62
  10  Bowl            -1.522         0.121          0.401          0              0              0              57
  11  Bowl            -2.000         0.121          0.401          0              0              0              56
  12  PepperShaker    -2.258         0.818          0.055          0              0              0              44
  13  Bread           -2.781         1.491          2.133          0              90             0              62
  14  Mug             -0.646         0.888          0.367          0              0              0              72
  15  Apple           -2.744         0.994          1.178          0              270            0              63
  16  Apple           -2.782         1.518          2.397          0              90             0              62
  17  Fork            -2.664         0.693          1.474          0              90             0              49
  18  Ladle           -2.540         1.893          2.316          0              0              0              54
  19  Pan             -0.244         0.829          2.075          0              180            0              39
  20  SoapBottle      -2.397         1.433          0.114          0              0              0              51
  21  Pot             -0.531         0.822          2.096          0              0              0              41
  22  Tomato          -0.362         0.106          2.674          0              0              0              64
  23  Potato          -2.892         1.182          2.397          0              90             0              62
  24  SaltShaker      -2.504         0.818          0.871          0              0              0              44
  25  Plate           -2.586         0.813          0.309          0              0              0              44
  26  Spatula         -0.984         0.838          0.500          0              0              0              44
  27  Knife           -2.662         0.819          0.557          90             300.034        0              44
  28  Egg             -2.671         0.849          2.485          0              90             0              62
  29  Cup             -0.400         0.823          1.326          0              0              0              44
  30  ButterKnife     -2.581         0.823          0.953          0              0              0              44
  31  Lettuce         -2.726         0.908          2.133          0              90             0              62
  32  PepperShaker    -2.762         1.430          0.380          0              45             0              50
  33  DishSponge      -0.363         0.696          0.839          0              0              0              46
  34  Bread           -0.982         0.855          0.253          0              30.070         0              44
  35  Spoon           -0.888         0.711          0.445          0              270            0              47
  36  Mug             -2.844         0.916          1.390          0              90             0              63
  37  Bowl            -2.609         0.118          1.550          0              0              0              55
  38  Cabinet         -2.377         2.015          1.720          0              0              0
  39  StoveBurner     -0.244         0.820          2.075          0              180            0
  40  Drawer          -0.402         0.703          1.252          0              0              0
  41  StoveBurner     -0.518         0.820          2.075          0              180            0
  42  Sink            -1.838         0.726          0.343          0              180            0
  43  StoveBurner     -0.244         0.820          1.684          0              0              0
  44  CounterTop      -1.557         0.859          0.277          0              0              0
  45  StoveBurner     -0.518         0.820          1.684          0              0              0
  46  Drawer          -0.404         0.704          0.912          0              0              0
  47  Drawer          -0.861         0.709          0.420          0              0              0
  48  Drawer          -1.133         0.706          0.418          0              0              0
  49  Drawer          -2.589         0.703          1.511          0              0              0
  50  Cabinet         -2.772         1.803          0.508          0              0              0
  51  Cabinet         -2.460         1.803          0.231          0              0              0
  52  Cabinet         -2.781         1.798          0.825          0              0              0
  53  Cabinet         -2.781         1.798          0.815          0              0              0
  54  Cabinet         -2.377         2.009          2.581          0              0              0
  55  Cabinet         -2.442         0.385          1.672          0              0              0
  56  Cabinet         -2.238         0.385          0.564          0              0              0
  57  Cabinet         -1.286         0.385          0.564          0              0              0
  58  Cabinet         -1.262         0.385          0.565          0              0              0
  59  Cabinet         -0.734         0.385          0.565          0              0              0
  60  Cabinet         -0.549         0.385          0.751          0              0              0
  61  Cabinet         -0.549         0.385          1.412          0              0              0
  62  Fridge          -2.782         0.0            2.221          0              0              0
  63  Microwave       -2.794         0.812          1.348          0              90             0
  64  GarbageCan      -0.329         2.205          2.606          0              0              0
  65  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  66  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  67  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  68  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  69  Window          -1.720         1.342          -0.208         90             0              0
  70  Toaster         -0.171         0.812          0.735          0              270            0
  71  SinkBasin       -1.745         0.687          0.295          0              0              0
  72  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  73  LightSwitch     -0.615         1.378          3.0            0              180            0
  74  Faucet          -1.686         0.954          0.176          0              236.223        0
  75  Stool           -1.008         0.008          1.955          0              18.279         0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Look down at the sink. | STEP 2: Pick up the knife on the ledge of the sink. | STEP 3: Turn left and walk to the counter to the right of the stove. | STEP 4: Place the knife in the green cup on the counter. | STEP 5: Pick up the cup. | STEP 6: Turn right and walk back to the sink. | STEP 7: Place the cup in the left part of the sink. | END