Task: Put a cup with a butter knife in it 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           -0.5           0.900          1.75           0              90             0
   1  Pan             1.077          0.950          -1.098         0              0              0              62
   2  Statue          0.859          0.914          -0.381         0              0              0              61
   3  Potato          1.060          1.825          -1.132         0              270            0              82
   4  CellPhone       0.875          0.699          -0.607         0              270            0              58
   5  DishSponge      -0.920         0.933          -1.463         0              0              0              60
   6  DishSponge      -1.571         0.881          2.692          0              0              0              86
   7  Glassbottle     -0.865         0.177          0.543          0              180            0              80
   8  Spoon           -1.292         0.934          -1.167         0              0              0              60
   9  Spoon           0.773          0.912          -0.729         0              0              0              61
  10  Spatula         -0.642         0.795          -0.659         0              0              0              81
  11  Spatula         -0.642         0.795          -0.918         0              0              0              81
  12  Knife           0.859          0.934          -0.555         0              0              0              61
  13  Cup             1.101          1.663          -2.097         0              270            0              59
  14  Bowl            -1.229         0.936          -0.905         0              0              0              60
  15  Bowl            0.905          1.138          1.349          0              270            0              83
  16  SaltShaker      0.713          0.698          -0.607         0              270            0              58
  17  SaltShaker      1.194          1.662          -0.401         0              270            0              69
  18  PepperShaker    -1.467         0.550          2.667          0              0              0              86
  19  Lettuce         1.026          0.940          1.063          0              270            0              83
  20  Bread           -1.355         1.014          -0.118         0              0              0              60
  21  Bread           0.859          0.992          0.139          0              0              0              61
  22  Mug             0.960          0.103          -1.892         0              0              0              65
  23  Mug             0.903          0.942          -2.110         0              300.131        0              79
  24  Apple           0.905          1.185          1.540          0              270            0              83
  25  Apple           -0.697         0.826          -0.745         0              90             0              81
  26  Statue          1.114          0.914          -0.729         0              0              0              61
  27  Glassbottle     1.193          1.667          0.280          0              270            0              68
  28  Bread           1.114          0.992          -0.034         0              0              0              61
  29  CreditCard      -0.772         0.930          -1.231         0              0              0              60
  30  CellPhone       0.688          0.908          -2.051         0              0              0              66
  31  Potato          0.966          1.165          1.158          0              270            0              83
  32  Knife           -0.772         0.957          0.162          0              0              0              60
  33  Fork            -0.753         0.781          -0.832         0              180            0              81
  34  Pan             0.965          0.860          1.444          0              0              0              83
  35  Lettuce         0.688          0.988          -1.879         0              0              0              66
  36  Plate           0.905          1.405          1.254          0              270            0              83
  37  Apple           0.688          0.961          -2.308         0              0              0              66
  38  Pot             -1.221         0.92           -0.49          0              0              0              60
  39  Spatula         -0.753         0.795          -0.573         0              180            0              81
  40  PaperTowelRoll  1.029          1.015          -0.555         0              0              0              61
  41  Tomato          1.026          1.683          1.158          0              270            0              83
  42  Egg             -1.007         0.216          0.576          0              180            0              80
  43  SaltShaker      0.954          0.150          -0.690         0              270            0              63
  44  PepperShaker    0.688          0.907          -0.555         0              0              0              61
  45  Vase            1.199          0.911          -1.879         0              0              0              66
  46  ButterKnife     -0.698         0.776          -0.573         0              90             0              81
  47  SoapBottle      0.811          0.108          -1.892         0              0              0              65
  48  Vase            -1.881         0.555          2.822          0              0              0              86
  49  Bowl            1.055          1.669          0.153          0              270            0              68
  50  DishSponge      0.944          0.910          -1.879         0              0              0              66
  51  Spoon           0.793          0.154          -0.611         0              270            0              63
  52  Cup             1.148          1.663          -1.961         0              270            0              59
  53  Mug             0.913          0.115          0.374          0              270            0              55
  54  StoveBurner     0.842          0.919          -1.098         0              0              0
  55  Cabinet         0.648          0.474          0.244          0              270            0
  56  StoveBurner     1.077          0.919          -1.504         0              0              0
  57  StoveBurner     0.842          0.919          -1.504         0              0              0
  58  Drawer          0.637          0.755          -0.649         0              270            0
  59  Cabinet         0.949          2.159          -2.375         0              270            0
  60  CounterTop      -1.238         0.968          -0.643         0              0              0
  61  CounterTop      0.931          0.946          -0.208         0              0              0
  62  StoveBurner     1.077          0.919          -1.098         0              0              0
  63  Drawer          0.637          0.268          -0.649         0              270            0
  64  Drawer          0.637          0.547          -0.649         0              270            0
  65  Cabinet         0.648          0.475          -1.714         0              0              0
  66  CounterTop      0.931          0.946          -2.051         0              0              0
  67  Cabinet         0.948          2.439          -1.780         0              270            0
  68  Cabinet         0.948          2.159          -0.140         0              270            0
  69  Cabinet         0.949          2.159          -0.758         0              270            0
  70  Sink            -0.699         0.927          -0.649         0              0              0
  71  LightSwitch     -2.371         1.218          3.049          0              180            0
  72  StoveKnob       0.673          0.899          -1.373         315            90             180
  73  StoveKnob       0.673          0.899          -1.519         315            90             180
  74  StoveKnob       0.673          0.899          -1.086         315            90             180
  75  StoveKnob       0.673          0.899          -1.237         315            90             180
  76  Toaster         0.984          0.900          0.329          0              270            0
  77  Window          0.014          0.998          -2.640         90             0              0
  78  Window          -2.996         0.998          -2.640         90             0              0
  79  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  80  GarbageCan      -0.946         -0.036         0.575          0              180            0
  81  SinkBasin       -0.698         0.765          -0.647         0              90             0
  82  Microwave       1.042          1.680          -1.295         0              270            0
  83  Fridge          0.966          0.0            1.253          0              0              0
  84  HousePlant      -1.354         0.919          -1.540         0              0              0
  85  Shelf           -1.635         0.172          2.715          0              180            0
  86  Shelf           -1.635         0.552          2.715          0              180            0
  87  Shelf           -1.635         0.880          2.715          0              180            0
  88  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  89  Chair           -1.832         0.002          -0.034         0              119.999        0
  90  Chair           -1.854         0.002          -0.956         0              67.887         0
  91  Faucet          -0.867         1.161          -0.651         0              0              0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Go toward the fridge, turn right and move forward, then turn left to face the sink. | STEP 2: Pick up the butter knife in the sink. | STEP 3: Turn left and go to the wall, then turn left and look up to the cabinet. | STEP 4: Open the cabinet and put the butter knife in the rightmost cup. | STEP 5: Take the rightmost cup from the cabinet. | STEP 6: Turn left and move forward, then turn left to face the sink. | STEP 7: Put the cup in the sink. | END