Task: Place a knife 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           -0.25          0.900          -0.75          0              270            0
   1  WineBottle      1.528          1.660          -2.086         0              0              0              47
   2  WineBottle      -1.072         0.127          -1.426         0              90             0              55
   3  Pot             -1.438         1.181          -0.806         0              180            0              68
   4  Spatula         1.466          0.928          -1.095         0              270            0              60
   5  Spoon           1.618          0.914          -2.169         0              90             0              60
   6  Fork            -0.210         0.765          -2.026         0              0              0              72
   7  Egg             -0.160         0.984          0.991          0              0              0              77
   8  Cup             1.255          0.553          2.431          0              0              0              86
   9  Knife           0.180          0.953          0.534          0              180            0              77
  10  SoapBottle      -0.160         0.929          0.762          0              0              0              77
  11  Bowl            -1.533         1.501          -0.495         0              90             0              68
  12  SaltShaker      0.119          0.909          -1.713         0              0              0              60
  13  SaltShaker      -0.657         0.108          -1.917         0              0              0              53
  14  Bread           0.066          0.975          1.220          0              0              0              77
  15  Bread           0.066          0.972          0.534          0              0              0              77
  16  Apple           -0.720         0.984          -2.233         0              0              0              60
  17  Apple           -1.186         1.086          -1.794         0              90             0              66
  18  Apple           -1.219         1.086          -1.638         0              90             0              66
  19  Potato          0.294          0.959          1.448          0              0              0              77
  20  Bowl            -1.533         1.501          -0.806         0              90             0              68
  21  SoapBottle      1.466          0.912          -1.563         0              0              0              60
  22  Fork            -0.047         0.931          0.762          0              0              0              77
  23  Ladle           1.557          0.957          -1.329         0              0              0              60
  24  Bread           1.850          0.958          -2.002         0              0              0              60
  25  Lettuce         0.522          1.008          0.534          0              0              0              77
  26  WineBottle      1.653          1.660          -2.124         0              0              0              47
  27  Spatula         0.522          0.945          0.076          0              0              0              77
  28  Plate           1.670          0.556          2.534          0              0              0              86
  29  SaltShaker      -0.927         0.909          -2.188         0              0              0              60
  30  Pot             1.567          0.948          -0.757         0              0              0              42
  31  Cup             0.921          0.913          -1.751         0              0              0              60
  32  PepperShaker    -0.047         0.923          0.991          0              0              0              77
  33  Pan             -1.495         0.859          -0.495         0              0              0              68
  34  ButterKnife     -0.047         0.930          0.076          0              0              0              77
  35  Tomato          0.294          0.982          0.305          0              0              0              77
  36  DishSponge      -0.047         0.930          0.305          0              0              0              77
  37  Egg             2.009          0.967          -1.095         0              0              0              60
  38  Spoon           0.921          0.914          -1.918         0              180            0              60
  39  Knife           1.828          0.936          -1.680         0              90             0              60
  40  Mug             -0.210         0.759          -1.936         0              0              0              72
  41  StoveBurner     1.845          0.940          -0.355         0              0              0
  42  StoveBurner     1.567          0.940          -0.757         0              0              0
  43  Cabinet         -1.149         2.019          -1.979         0              90             0
  44  Cabinet         -1.149         2.265          -0.834         0              90             0
  45  Cabinet         -0.459         2.265          -2.0           0              0              0
  46  Cabinet         -1.100         2.019          -2.0           0              0              0
  47  Cabinet         1.719          2.019          -2.0           0              0              0
  48  Cabinet         1.179          2.019          -2.0           0              0              0
  49  Cabinet         0.199          2.019          -2.0           0              0              0
  50  Cabinet         1.75           2.019          -1.399         0              270            0
  51  Cabinet         1.75           2.019          -1.029         0              270            0
  52  Cabinet         1.379          0.469          -1.689         0              0              0
  53  Cabinet         -0.819         0.469          -1.689         0              0              0
  54  Cabinet         1.389          0.469          -1.059         0              270            0
  55  Cabinet         -0.839         0.469          -1.665         0              90             0
  56  StoveBurner     1.567          0.940          -0.355         0              0              0
  57  StoveBurner     1.845          0.940          -0.757         0              0              0
  58  Sink            -0.109         0.893          -2.009         0              0              0
  59  Drawer          -0.819         0.75           -1.690         0              0              0
  60  CounterTop      0.232          0.949          -2.002         0              0              0
  61  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  62  Vase            0.251          0.546          0.475          0              270            0
  63  Toaster         0.780          0.900          -2.080         0              0              0
  64  LightSwitch     0.108          1.315          2.75           0              180            0
  65  Vase            0.400          0.925          0.218          0              180            0
  66  Microwave       -1.233         0.900          -1.680         0              90             0
  67  Vase            1.465          1.662          -2.200         0              0              0
  68  Fridge          -1.495         0.0            -0.703         0              0              0
  69  Window          2.114          1.495          1.072          90             270            0
  70  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  71  Vase            0.333          0.546          1.272          0              270            0
  72  SinkBasin       -0.148         0.753          -2.026         0              0              0
  73  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  74  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  77  DiningTable     0.170          0.005          0.678          0              270            0
  78  Shelf           0.170          0.155          0.678          0              270            0
  79  Shelf           1.605          0.172          2.480          0              0              0
  80  Shelf           1.605          0.552          2.480          0              0              0
  81  Shelf           1.604          0.880          2.479          0              0              0
  82  ShelvingUnit    1.605          0.006          2.480          0              0              0
  83  Faucet          -0.143         1.028          -2.223         0              270            0
  84  Stool           -0.553         0.000          0.871          1.233          280.376        0
  85  Shelf           0.170          0.528          0.678          0              270            0
  86
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: turn to the left and go forward to the sink and turn to the left and go to the counter | STEP 2: pick up the knife with the yellow handle from the counter top | STEP 3: turn to the right twice and go to the front of the sink and turn left facing the sink | STEP 4: put the knife in the sink | END