Task: to put the knife  in the cup 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           -0.75          0.900          0.5            0              0              0
   1  Pan             -0.106         0.925          0.738          0              90             0              76
   2  Potato          -1.750         1.492          0.201          0              90             0              91
   3  Potato          -1.773         0.066          1.33           0              270            0              82
   4  CellPhone       1.603          0.580          -0.019         0              270            0              53
   5  CellPhone       -1.551         0.909          -1.013         0              0              0              68
   6  Ladle           -0.638         0.955          -1.610         0              0              0              59
   7  Ladle           1.653          0.955          -0.210         0              0              0              68
   8  DishSponge      -1.105         0.113          -1.360         0              0              0              80
   9  DishSponge      1.603          0.119          0.599          0              270            0              60
  10  ButterKnife     -0.106         0.925          0.970          0              0              0              76
  11  Spoon           1.812          0.142          1.153          0              0              0              77
  12  Spoon           1.713          0.348          0.531          0              0              0              62
  13  Spatula         1.658          0.778          1.365          0              270            0              74
  14  Pot             -1.874         0.915          -1.415         0              0              0              68
  15  Pot             -1.750         1.473          0.013          0              90             0              91
  16  Cup             0.214          0.923          0.506          0              0              0              76
  17  Knife           0.107          0.947          0.273          0              0              0              76
  18  Knife           0.214          0.947          1.202          0              0              0              76
  19  SoapBottle      -1.197         0.117          -1.487         0              0              0              80
  20  SoapBottle      -0.320         0.929          0.506          0              0              0              76
  21  Tomato          0.000          0.980          0.041          0              0              0              76
  22  Tomato          -1.663         0.618          -0.175         0              90             0              91
  23  SoapBottle      -0.213         0.929          0.041          0              0              0              76
  24  Cup             -1.114         1.677          -1.652         0              0              0              70
  25  Pot             1.975          0.938          0.819          0              180            0              78
  26  Fork            -0.106         0.926          0.041          0              90             0              76
  27  Ladle           0.083          0.804          -1.435         0              0              0              92
  28  Kettle          1.765          0.938          0.601          0              180            0              50
  29  Egg             -1.902         0.968          -1.013         0              0              0              68
  30  Plate           -1.727         0.910          -1.013         0              0              0              68
  31  Pan             -1.286         0.9            -1.348         0              79.769         0              68
  32  Lettuce         -1.668         0.988          -1.707         0              0              0              68
  33  Spatula         1.764          0.485          -0.020         0              0              0              64
  34  Apple           -1.697         1.522          -0.175         0              90             0              91
  35  Knife           1.658          0.604          -0.092         0              180            0              53
  36  SaltShaker      0.849          1.675          -1.539         0              0              0              67
  37  PepperShaker    -1.764         1.658          -1.282         0              90             0              55
  38  CellPhone       1.610          0.344          0.736          0              0              0              62
  39  ButterKnife     1.117          0.911          -1.610         0              0              0              68
  40  Bread           1.726          0.992          1.182          0              0              0              68
  41  Tomato          -0.175         0.815          -1.435         0              0              0              92
  42  Potato          -0.320         0.949          1.202          0              0              0              76
  43  DishSponge      1.714          0.583          0.125          0              270            0              53
  44  Spoon           1.714          0.763          1.001          0              0              0              74
  45  Mug             0.083          0.755          -1.324         0              0              0              92
  46  Bowl            0.194          0.111          -1.345         0              0              0              57
  47  Cabinet         -0.495         0.474          -1.149         0              0              0
  48  Window          -0.010         1.582          -1.821         0              0              0
  49  Drawer          0.805          0.475          -1.159         0              0              0
  50  StoveBurner     1.764          0.902          0.601          0              270            0
  51  Drawer          1.5            0.196          -0.019         0              0              0
  52  Drawer          1.5            0.629          -0.018         0              0              0
  53  Drawer          1.5            0.602          -0.019         0              270            0
  54  StoveBurner     1.975          0.902          0.384          0              270            0
  55  Cabinet         -1.703         2.022          -1.453         0              90             0
  56  Cabinet         1.789          2.019          -0.819         0              270            0
  57  Cabinet         0.494          0.474          -1.149         0              0              0
  58  Cabinet         0.409          0.475          0.444          0              0              0
  59  Drawer          -0.696         0.475          -1.159         0              0              0
  60  Drawer          1.5            0.140          0.599          0              270            0
  61  Cabinet         1.389          0.474          -1.149         0              0              0
  62  Drawer          1.5            0.305          0.600          0              0              0
  63  StoveBurner     1.975          0.902          0.601          0              270            0
  64  Drawer          1.5            0.429          -0.019         0              0              0
  65  StoveBurner     1.764          0.902          0.819          0              270            0
  66  Drawer          1.5            0.519          1.220          0              0              0
  67  Cabinet         1.705          2.019          -1.449         0              0              0
  68  CounterTop      0.002          0.947          -1.513         0              0              0
  69  Drawer          1.5            0.629          0.605          0              0              0
  70  Cabinet         -0.627         2.019          -1.449         0              0              0
  71  StoveBurner     1.764          0.902          0.384          0              270            0
  72  Drawer          1.5            0.538          0.600          0              0              0
  73  Sink            0.0            0.893          -1.434         0              0              0
  74  Drawer          1.5            0.782          1.220          0              270            0
  75  Window          2.217          1.565          -0.384         0              0              0
  76  CounterTop      -0.014         0.961          0.505          0              0              0
  77  Drawer          1.5            0.200          1.220          0              0              0
  78  StoveBurner     1.975          0.902          0.819          0              270            0
  79  Window          -3.240         1.616          2.693          0              270            0
  80  Cabinet         -1.389         0.474          -1.149         0              0              0
  81  LightSwitch     -0.153         1.291          3.700          0              180            0
  82  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  83  StoveKnob       1.602          0.917          0.570          0              270            180
  84  StoveKnob       1.602          0.917          0.625          0              270            180
  85  StoveKnob       1.602          0.917          0.739          0              270            180
  86  StoveKnob       1.602          0.917          0.680          0              270            180
  87  StoveKnob       1.602          0.917          0.462          0              270            180
  88  StoveKnob       1.602          0.917          0.517          0              270            180
  89  Microwave       1.932          0.899          -0.766         0              270            0
  90  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  91  Fridge          -1.764         0.0            0.014          0              90             0
  92  SinkBasin       -0.014         0.736          -1.435         0              0              0
  93  Toaster         1.977          0.900          -0.336         0              270            0
  94  Faucet          -0.020         1.137          -1.605         0              270            0
  95  Chair           -9.354         0.000          1.242          0              180            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1:  turn right and walk up to the table | STEP 2:  pick up the knife    that is on the table                   
 | STEP 3:  turn and walk to  the counter | STEP 4:  open the cupboard   that is above the counter
 | STEP 5:  take out  the cup put the knife in the cup | STEP 6:  turn  and walk to the sink | STEP 7:  put the cup with the knife in it in the sink | END