Task: To move a yellow cup to the sink and put a knife in the yellow cup.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          1.25           0              0              0
   1  Pan             1.328          0.957          -1.688         0              180            0              62
   2  Pan             1.328          0.957          -1.420         0              180            0              63
   3  Statue          -2.733         0.877          2.884          0              180            0              61
   4  Vase            -1.516         0.913          -1.265         0              0              0              59
   5  Potato          1.578          0.946          -1.437         0              0              0              79
   6  Potato          0.479          0.948          -1.776         0              0              0              59
   7  Book            0.571          0.908          -1.369         0              0              0              59
   8  Book            -3.165         0.875          3.147          0              270            0              61
   9  DishSponge      -2.845         0.878          3.513          0              135            0              61
  10  DishSponge      -3.122         0.878          3.475          0              135            0              61
  11  ButterKnife     -2.072         0.912          0.037          0              0              0              59
  12  ButterKnife     0.179          0.928          -1.501         0              270            0              56
  13  WineBottle      -2.321         0.875          3.370          0              270            0              61
  14  Spatula         -2.816         0.893          3.379          0              315            0              61
  15  Spatula         -1.682         0.732          -0.788         0              270            0              74
  16  Pot             0.974          0.957          -1.419         0              180            0              77
  17  Fork            -1.849         0.912          -0.614         0              0              0              59
  18  Plate           -2.405         0.882          2.758          0              135            0              61
  19  Plate           -2.300         0.882          3.580          0              225            0              61
  20  SoapBottle      -0.897         0.193          2.097          0              90             0              89
  21  SoapBottle      -1.961         0.912          -1.265         0              0              0              59
  22  PepperShaker    3.793          0.549          1.656          0              270            0              82
  23  PepperShaker    -0.217         0.908          -1.206         0              0              0              59
  24  Lettuce         -2.367         0.939          3.035          0              135            0              61
  25  Lettuce         -3.017         0.939          3.580          0              135            0              61
  26  Apple           -2.152         0.929          3.221          0              270            0              61
  27  Book            -1.94          0.900          -1.693         0              0              0              78
  28  Fork            -1.738         0.912          -0.939         0              0              0              59
  29  Tomato          0.307          1.619          2.160          0              180            0              84
  30  Egg             -0.034         0.828          2.251          0              180            0              84
  31  Kettle          -0.833         0.900          -1.757         0              0              0              59
  32  Vase            -1.686         0.120          -0.841         0              0              0              64
  33  Cup             0.014          0.928          -1.646         0              270            0              56
  34  WineBottle      0.591          0.117          -1.408         0              0              0              66
  35  Plate           -2.807         0.878          3.728          0              0              0              61
  36  Spatula         -2.828         0.893          3.073          0              180            0              61
  37  Potato          0.289          0.965          -1.718         0              270            0              56
  38  Pot             0.974          0.957          -1.688         0              180            0              58
  39  Knife           -1.738         0.934          -0.614         0              90             0              59
  40  SaltShaker      0.638          0.714          -1.376         0              0              0              76
  41  PepperShaker    0.508          0.112          -1.333         0              0              0              66
  42  Lettuce         -2.996         0.943          3.073          0              180            0              61
  43  ButterKnife     -2.659         0.874          3.370          0              270            0              61
  44  Bread           -0.263         1.655          2.040          0              180            0              84
  45  Vase            -2.050         0.120          -1.433         0              0              0              60
  46  DishSponge      -2.050         0.119          -1.653         0              0              0              78
  47  Apple           -0.292         0.752          -1.468         0              270            0              88
  48  Pan             0.972          0.959          -1.426         0              0              0              77
  49  Spoon           0.069          0.929          -1.573         0              0              0              56
  50  SoapBottle      -0.943         1.654          -1.674         0              0              0              71
  51  Mug             -3.122         0.869          2.968          0              315            0              61
  52  Statue          3.637          0.560          1.553          0              270            0              82
  53  Statue          3.668          0.540          1.800          0              0              0              82
  54  Bowl            -0.034         1.141          2.206          0              180            0              84
  55  Cabinet         -2.171         2.009          -1.538         0              0              0
  56  Sink            0.024          0.771          -1.708         0              270            0
  57  Cabinet         1.444          2.259          -1.542         0              0              0
  58  StoveBurner     0.974          0.957          -1.688         0              180            0
  59  CounterTop      -1.866         0.947          -0.614         0              0              0
  60  Cabinet         -2.217         0.373          -1.874         0              0              0
  61  DiningTable     -2.663         0.002          3.208          0              0              0
  62  StoveBurner     1.328          0.957          -1.688         0              180            0
  63  StoveBurner     1.328          0.957          -1.420         0              180            0
  64  Cabinet         -1.478         0.373          -1.235         0              0              0
  65  Cabinet         1.775          0.372          -1.242         0              0              0
  66  Cabinet         0.774          0.372          -1.242         0              0              0
  67  Cabinet         0.375          0.372          -1.242         0              0              0
  68  Cabinet         -0.574         0.372          -1.238         0              0              0
  69  Cabinet         1.775          2.009          -1.542         0              0              0
  70  Cabinet         0.524          2.009          -1.542         0              0              0
  71  Cabinet         -0.714         2.009          -1.542         0              0              0
  72  Cabinet         -1.671         2.009          -1.538         0              0              0
  73  Cabinet         0.854          2.259          -1.542         0              0              0
  74  Drawer          -1.636         0.683          -0.930         0              0              0
  75  Drawer          1.650          0.682          -1.396         0              0              0
  76  Drawer          0.600          0.682          -1.396         0              0              0
  77  StoveBurner     0.974          0.957          -1.419         0              180            0
  78  Drawer          -2.062         0.683          -1.579         0              0              0
  79  CounterTop      1.645          0.945          -1.527         0              0              0
  80  Shelf           3.725          0.880          1.671          0              90             0
  81  LightSwitch     2.830          1.266          -0.748         0              0              0
  82  Shelf           3.726          0.552          1.671          0              90             0
  83  Microwave       1.150          1.655          -1.614         0              0              0
  84  Fridge          -0.035         0.0            2.177          0              180            0
  85  Window          -0.115         1.802          -1.896         90             0              0
  86  Window          -4.009         1.799          0.310          90             90             0
  87  Shelf           3.726          0.172          1.671          0              90             0
  88  SinkBasin       -0.330         0.686          -1.581         0              270            0
  89  GarbageCan      -0.870         -0.001         2.136          0              90             0
  90  StoveKnob       1.089          0.913          -1.243         45             0              0
  91  StoveKnob       1.208          0.913          -1.243         45             0              0
  92  StoveKnob       1.340          0.913          -1.243         45             0              0
  93  StoveKnob       0.961          0.913          -1.243         45             0              0
  94  Toaster         1.637          0.900          -1.673         0              0              0
  95  Chair           -3.505         0.002          3.290          0              105.736        0
  96  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  97  HousePlant      -2.663         0.835          3.209          0              0              0
  98  Faucet          -0.187         0.922          -1.75          0              311.166        0
  99  ShelvingUnit    3.726          0.006          1.671          0              90             0
 100  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 101  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 102  Chair           -2.934         0.002          2.437          0              28.531         0
 103  Chair           -1.698         0.002          3.235          0              245.204        0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn left, turn left at the fridge, and walk to the sink.  | STEP 2: Pick up the yellow cup from the left side of the sink.  | STEP 3: Put the cup down in the right side of the sink.  | STEP 4: Move to the left side of the sink.  | STEP 5: Pick up the butter knife from the left side of the sink.  | STEP 6: Move to face the right side of the sink.  | STEP 7: Put the knife in the yellow cup in the sink.  | END