Task: put green cup and knife into sink basin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          1.25           0              180            0
   1  Potato          -0.698         0.811          -0.486         0              90             0              79
   2  CreditCard      0.833          0.150          -0.690         0              270            0              61
   3  CreditCard      -1.571         0.878          2.719          0              0              0              85
   4  CellPhone       1.199          0.908          -0.729         0              0              0              59
   5  CellPhone       -1.363         0.550          2.770          0              0              0              84
   6  DishSponge      0.794          0.701          -0.648         0              270            0              56
   7  DishSponge      -1.355         0.933          -0.905         0              0              0              58
   8  Fork            0.794          0.702          -0.772         0              180            0              56
   9  Fork            -0.698         0.777          -0.573         0              0              0              79
  10  Spoon           0.773          0.912          -1.965         0              0              0              64
  11  Spoon           0.773          0.912          0.139          0              0              0              59
  12  Knife           0.944          0.934          -0.381         0              180            0              59
  13  Egg             0.783          1.680          1.158          0              270            0              81
  14  Egg             0.688          0.949          -0.555         0              0              0              59
  15  Cup             -1.881         0.551          2.563          0              0              0              84
  16  Cup             0.944          0.908          -0.729         0              0              0              59
  17  Plate           0.859          0.914          -0.381         0              0              0              59
  18  Plate           -0.642         0.783          -0.832         0              90             0              79
  19  Tomato          0.688          0.952          0.313          0              0              0              59
  20  Lettuce         1.026          1.212          1.063          0              270            0              81
  21  Mug             -1.981         0.876          2.719          0              0              0              85
  22  Mug             1.028          1.790          -1.132         0              270            0              80
  23  Apple           -0.960         0.229          0.510          0              180            0              78
  24  Statue          -0.624         0.936          0.009          0              0              0              58
  25  Glassbottle     -1.292         0.934          -1.167         0              0              0              58
  26  Bread           -0.779         0.996          0.209          0              258.641        0              58
  27  CreditCard      -1.985         0.551          2.874          0              0              0              84
  28  CellPhone       -0.624         0.930          -1.231         0              0              0              58
  29  Potato          -1.054         0.207          0.608          0              180            0              78
  30  Knife           0.944          0.934          -0.034         0              0              0              59
  31  Fork            0.793          0.154          -0.769         0              180            0              61
  32  Pan             0.966          1.640          1.063          0              180            0              81
  33  Lettuce         -0.624         1.010          -1.231         0              0              0              58
  34  Plate           -1.104         0.936          0.144          0              0              0              58
  35  Apple           0.905          1.452          1.158          0              270            0              81
  36  Pot             1.077          0.950          -1.504         0              0              0              54
  37  Spatula         1.199          0.926          -0.381         0              90             0              59
  38  PaperTowelRoll  -0.960         0.281          0.608          0              180            0              78
  39  Tomato          1.114          0.952          0.139          0              0              0              59
  40  Egg             1.060          1.821          -1.236         0              270            0              80
  41  SaltShaker      1.256          2.204          -1.517         0              270            0              65
  42  PepperShaker    0.861          0.104          -2.212         0              0              0              63
  43  Vase            1.194          1.666          -0.529         0              270            0              67
  44  ButterKnife     -1.292         0.933          -0.905         0              0              0              58
  45  SoapBottle      1.148          1.666          -2.234         0              270            0              57
  46  Vase            1.101          1.667          0.089          0              270            0              66
  47  Bowl            1.169          2.211          -1.191         0              270            0              65
  48  DishSponge      -0.624         0.933          -1.618         0              0              0              58
  49  Spoon           0.834          0.496          -0.690         0              270            0              62
  50  Cup             1.114          0.908          -0.381         0              0              0              59
  51  Mug             0.903          0.942          -2.110         0              300.131        0              77
  52  StoveBurner     0.842          0.919          -1.098         0              0              0
  53  Cabinet         0.648          0.474          0.244          0              270            0
  54  StoveBurner     1.077          0.919          -1.504         0              0              0
  55  StoveBurner     0.842          0.919          -1.504         0              0              0
  56  Drawer          0.637          0.755          -0.649         0              270            0
  57  Cabinet         0.949          2.159          -2.375         0              270            0
  58  CounterTop      -1.238         0.968          -0.643         0              0              0
  59  CounterTop      0.931          0.946          -0.208         0              0              0
  60  StoveBurner     1.077          0.919          -1.098         0              0              0
  61  Drawer          0.637          0.268          -0.649         0              270            0
  62  Drawer          0.637          0.547          -0.649         0              270            0
  63  Cabinet         0.648          0.475          -1.714         0              0              0
  64  CounterTop      0.931          0.946          -2.051         0              0              0
  65  Cabinet         0.948          2.439          -1.780         0              270            0
  66  Cabinet         0.948          2.159          -0.140         0              270            0
  67  Cabinet         0.949          2.159          -0.758         0              270            0
  68  Sink            -0.699         0.927          -0.649         0              0              0
  69  LightSwitch     -2.371         1.218          3.049          0              180            0
  70  StoveKnob       0.673          0.899          -1.373         315            90             180
  71  StoveKnob       0.673          0.899          -1.519         315            90             180
  72  StoveKnob       0.673          0.899          -1.086         315            90             180
  73  StoveKnob       0.673          0.899          -1.237         315            90             180
  74  Toaster         0.984          0.900          0.329          0              270            0
  75  Window          0.014          0.998          -2.640         90             0              0
  76  Window          -2.996         0.998          -2.640         90             0              0
  77  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  78  GarbageCan      -0.946         -0.036         0.575          0              180            0
  79  SinkBasin       -0.698         0.765          -0.647         0              90             0
  80  Microwave       1.042          1.680          -1.295         0              270            0
  81  Fridge          0.966          0.0            1.253          0              0              0
  82  HousePlant      -1.354         0.919          -1.540         0              0              0
  83  Shelf           -1.635         0.172          2.715          0              180            0
  84  Shelf           -1.635         0.552          2.715          0              180            0
  85  Shelf           -1.635         0.880          2.715          0              180            0
  86  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  87  Chair           -1.832         0.002          -0.034         0              119.999        0
  88  Chair           -1.854         0.002          -0.956         0              67.887         0
  89  Faucet          -0.867         1.161          -0.651         0              0              0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: walk to face counter behind sink | STEP 2: pick up butter knife from under sponge on counter | STEP 3: walk to face counter to left of stove | STEP 4: put knife into green cup on the left on the counter | STEP 5: pick up the green cup from counter | STEP 6: turn to face the kitchen sink | STEP 7: put green cup into sink basin | END