Task: put a butter knife and cup into a sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.900          1.5            0              270            0
   1  Statue          -1.104         0.936          -0.118         0              0              0              55
   2  Statue          -0.772         0.936          -1.386         0              0              0              55
   3  Potato          0.944          0.941          -0.729         0              0              0              56
   4  Potato          -0.865         0.209          0.510          0              180            0              75
   5  CreditCard      -1.469         0.878          2.665          0              0              0              82
   6  DishSponge      0.915          0.702          -0.731         0              270            0              53
   7  Fork            -1.104         0.934          -0.643         0              0              0              55
   8  Spatula         -0.642         0.791          -0.918         0              0              0              76
   9  Egg             -0.920         0.971          -1.386         0              0              0              55
  10  Egg             -0.808         0.818          -0.486         0              90             0              76
  11  Cup             0.995          1.792          -1.339         0              270            0              77
  12  Tomato          -1.007         0.219          0.576          0              180            0              75
  13  Tomato          0.688          0.952          -2.308         0              0              0              61
  14  Bowl            1.026          0.866          1.158          0              270            0              78
  15  PepperShaker    -1.292         0.929          -0.118         0              0              0              55
  16  PepperShaker    0.713          0.490          -0.607         0              270            0              59
  17  Lettuce         0.688          0.988          -0.555         0              0              0              56
  18  Lettuce         1.114          0.988          -0.208         0              0              0              56
  19  Mug             0.859          0.906          -0.381         0              0              0              56
  20  Mug             0.903          0.942          -2.110         0              300.131        0              74
  21  Statue          -1.816         0.871          2.754          0              180            0              55
  22  Glassbottle     0.688          0.912          0.313          0              0              0              56
  23  Bread           0.859          0.992          -0.208         0              0              0              56
  24  CreditCard      -0.550         0.930          0.315          0              0              0              55
  25  CellPhone       1.114          0.908          -1.879         0              0              0              61
  26  Potato          0.688          0.941          -2.051         0              0              0              61
  27  Knife           0.773          0.934          -1.879         0              270            0              61
  28  Fork            0.874          0.154          -0.571         0              0              0              58
  29  Pan             0.966          1.640          1.063          0              180            0              78
  30  Lettuce         -0.642         0.857          -0.745         0              90             0              76
  31  Plate           1.169          2.211          -1.299         0              270            0              62
  32  Apple           -0.477         0.983          0.239          0              0              0              55
  33  Pot             1.077          0.950          -1.504         0              0              0              51
  34  Spatula         -0.587         0.795          -0.659         0              0              0              76
  35  PaperTowelRoll  -0.477         1.037          -0.067         0              0              0              55
  36  Tomato          1.026          1.683          1.540          0              270            0              78
  37  Egg             1.060          1.821          -1.236         0              270            0              77
  38  SaltShaker      -1.881         0.550          2.667          0              0              0              81
  39  PepperShaker    0.996          2.204          -1.191         0              270            0              62
  40  Vase            -1.423         0.169          2.621          0              0              0              81
  41  ButterKnife     -0.697         0.776          -0.832         0              90             0              76
  42  SoapBottle      -1.104         0.933          0.144          0              0              0              55
  43  Vase            1.194          1.667          -0.401         0              270            0              64
  44  Bowl            1.193          1.669          0.216          0              270            0              63
  45  DishSponge      0.833          0.153          -0.729         0              270            0              58
  46  Spoon           0.859          0.912          0.139          0              270            0              56
  47  Cup             0.905          1.132          1.254          0              270            0              78
  48  Mug             0.966          0.858          1.349          0              270            0              78
  49  StoveBurner     0.842          0.919          -1.098         0              0              0
  50  Cabinet         0.648          0.474          0.244          0              270            0
  51  StoveBurner     1.077          0.919          -1.504         0              0              0
  52  StoveBurner     0.842          0.919          -1.504         0              0              0
  53  Drawer          0.637          0.755          -0.649         0              270            0
  54  Cabinet         0.949          2.159          -2.375         0              270            0
  55  CounterTop      -1.238         0.968          -0.643         0              0              0
  56  CounterTop      0.931          0.946          -0.208         0              0              0
  57  StoveBurner     1.077          0.919          -1.098         0              0              0
  58  Drawer          0.637          0.268          -0.649         0              270            0
  59  Drawer          0.637          0.547          -0.649         0              270            0
  60  Cabinet         0.648          0.475          -1.714         0              0              0
  61  CounterTop      0.931          0.946          -2.051         0              0              0
  62  Cabinet         0.948          2.439          -1.780         0              270            0
  63  Cabinet         0.948          2.159          -0.140         0              270            0
  64  Cabinet         0.949          2.159          -0.758         0              270            0
  65  Sink            -0.699         0.927          -0.649         0              0              0
  66  LightSwitch     -2.371         1.218          3.049          0              180            0
  67  StoveKnob       0.673          0.899          -1.373         315            90             180
  68  StoveKnob       0.673          0.899          -1.519         315            90             180
  69  StoveKnob       0.673          0.899          -1.086         315            90             180
  70  StoveKnob       0.673          0.899          -1.237         315            90             180
  71  Toaster         0.984          0.900          0.329          0              270            0
  72  Window          0.014          0.998          -2.640         90             0              0
  73  Window          -2.996         0.998          -2.640         90             0              0
  74  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  75  GarbageCan      -0.946         -0.036         0.575          0              180            0
  76  SinkBasin       -0.698         0.765          -0.647         0              90             0
  77  Microwave       1.042          1.680          -1.295         0              270            0
  78  Fridge          0.966          0.0            1.253          0              0              0
  79  HousePlant      -1.354         0.919          -1.540         0              0              0
  80  Shelf           -1.635         0.172          2.715          0              180            0
  81  Shelf           -1.635         0.552          2.715          0              180            0
  82  Shelf           -1.635         0.880          2.715          0              180            0
  83  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  84  Chair           -1.832         0.002          -0.034         0              119.999        0
  85  Chair           -1.854         0.002          -0.956         0              67.887         0
  86  Faucet          -0.867         1.161          -0.651         0              0              0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: walk to face microwave | STEP 2: remove green cup from microwave | STEP 3: walk to face sink | STEP 4: put green cup in sink | STEP 5: pick up butter knife from sink | STEP 6: put butter knife into green cup inside sink | END