Task: Put a cup with a knife in it on the table

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          0.25           0              0              0
   1  Potato          2.962          1.323          -0.775         0              0              0              106
   2  Potato          -2.019         0.458          1.459          0              270            0              104
   3  DishSponge      2.512          0.770          1.236          0              0              0              67
   4  DishSponge      -0.836         0.820          -1.183         0              0              0              110
   5  Kettle          1.488          0.115          1.119          0              0              0              80
   6  Kettle          1.422          0.912          1.214          0              0              0              86
   7  ButterKnife     -1.056         0.820          -1.308         0              90             0              110
   8  Spoon           -0.055         0.912          1.044          0              0              0              62
   9  Spoon           -0.694         0.822          -1.257         0              90             0              110
  10  Fork            -0.839         0.821          -1.411         0              180            0              110
  11  Plate           1.955          0.914          1.383          0              0              0              86
  12  Cup             1.141          0.909          -0.430         0              0              0              51
  13  Cup             2.962          1.561          -0.709         0              0              0              106
  14  Cup             2.715          1.561          -0.709         0              0              0              106
  15  Egg             -1.991         0.461          1.290          0              270            0              104
  16  Egg             0.466          1.822          1.455          0              180            0              109
  17  Knife           0.123          0.798          -0.651         0              0              0              108
  18  Knife           -0.939         0.853          -1.183         0              90             0              110
  19  SoapBottle      1.931          0.120          1.117          0              0              0              71
  20  Tomato          2.838          0.756          -0.565         0              0              0              106
  21  Tomato          2.591          1.320          -0.775         0              0              0              106
  22  Bowl            1.155          0.909          1.383          0              0              0              86
  23  SaltShaker      1.931          0.111          1.276          0              0              0              71
  24  Lettuce         1.688          0.992          1.468          0              0              0              86
  25  Lettuce         2.221          0.992          1.214          0              0              0              86
  26  Apple           2.900          1.632          -0.578         0              0              0              106
  27  Apple           2.653          0.794          -0.473         0              0              0              106
  28  SoapBottle      0.888          0.917          -0.684         0              0              0              51
  29  Plate           2.488          0.914          1.129          0              0              0              86
  30  Fork            -0.157         0.766          -0.707         0              90             0              108
  31  Pot             0.297          0.960          1.346          0              0              0              66
  32  Bread           2.715          1.077          -0.709         0              0              0              106
  33  Egg             0.193          0.803          -0.541         0              0              0              108
  34  Kettle          1.917          1.656          1.507          0              0              0              75
  35  Tomato          -0.836         0.852          -1.328         0              0              0              110
  36  Cup             0.570          1.782          1.488          0              180            0              109
  37  Spatula         -0.007         0.926          1.468          0              270            0              62
  38  Apple           -0.246         0.980          1.129          0              0              0              62
  39  Pan             0.678          0.964          1.082          0              0              0              54
  40  Lettuce         -0.103         0.992          1.383          0              90             0              62
  41  SaltShaker      -0.151         0.908          1.214          0              0              0              62
  42  Knife           0.634          0.944          -0.769         0              0              0              51
  43  Potato          -0.621         0.855          -1.206         0              90             0              110
  44  PepperShaker    2.221          0.908          1.468          0              0              0              86
  45  ButterKnife     0.888          0.911          -0.430         0              0              0              51
  46  Bowl            1.561          1.652          1.470          0              0              0              74
  47  DishSponge      1.558          0.770          1.083          0              0              0              69
  48  Spoon           2.173          0.773          -0.460         0              180            0              64
  49  Mug             -0.246         0.906          1.553          0              0              0              62
  50  Sink            0.050          0.902          -0.648         0              0              0
  51  CounterTop      1.358          0.947          -0.600         0              0              0
  52  Cabinet         2.986          2.009          1.304          0              0              0
  53  Cabinet         1.022          2.009          -0.607         0              180            0
  54  StoveBurner     0.678          0.923          1.082          0              0              0
  55  Cabinet         2.371          0.402          0.995          0              0              0
  56  Drawer          -0.125         0.792          0.995          0              0              0
  57  StoveBurner     0.281          0.923          1.082          0              0              0
  58  Cabinet         1.025          0.402          0.995          0              0              0
  59  Cabinet         1.023          0.402          -0.296         0              180            0
  60  Cabinet         0.974          2.259          1.304          0              0              0
  61  Cabinet         0.979          2.009          -0.607         0              180            0
  62  CounterTop      -0.158         0.947          1.299          0              0              0
  63  Cabinet         1.725          2.009          1.304          0              0              0
  64  Drawer          2.205          0.792          -0.294         0              180            0
  65  Drawer          1.869          0.792          -0.294         0              180            0
  66  StoveBurner     0.281          0.923          1.347          0              0              0
  67  Drawer          2.512          0.792          0.995          0              0              0
  68  Cabinet         1.673          0.402          -0.296         0              180            0
  69  Drawer          1.524          0.792          0.995          0              0              0
  70  Drawer          1.174          0.792          -0.294         0              180            0
  71  Cabinet         1.720          0.402          0.995          0              0              0
  72  Cabinet         2.348          2.009          -0.607         0              180            0
  73  Cabinet         1.676          2.009          -0.607         0              180            0
  74  Cabinet         1.673          2.009          1.304          0              0              0
  75  Cabinet         2.326          2.009          1.304          0              0              0
  76  Cabinet         2.370          2.009          1.304          0              0              0
  77  Cabinet         0.021          2.009          1.304          0              0              0
  78  Cabinet         1.025          2.009          1.304          0              0              0
  79  Cabinet         -0.274         0.402          0.995          0              0              0
  80  Cabinet         1.675          0.402          0.995          0              0              0
  81  Drawer          1.524          0.792          -0.294         0              180            0
  82  Drawer          2.187          0.792          0.995          0              0              0
  83  Cabinet         2.977          0.402          0.995          0              0              0
  84  Drawer          1.862          0.792          0.995          0              0              0
  85  Cabinet         0.072          2.259          1.304          0              0              0
  86  CounterTop      1.917          0.947          1.299          0              0              0
  87  Cabinet         2.328          0.402          0.995          0              0              0
  88  Cabinet         1.723          2.009          -0.607         0              180            0
  89  StoveBurner     0.677          0.923          1.345          0              0              0
  90  Cabinet         0.355          2.009          -0.607         0              180            0
  91  Cabinet         0.332          2.009          -0.607         0              180            0
  92  Cabinet         2.349          0.402          -0.296         0              180            0
  93  Cabinet         -0.284         2.009          -0.607         0              180            0
  94  Faucet          0.061          0.906          -0.903         0              0              0
  95  Drawer          2.837          0.792          0.995          0              0              0
  96  Drawer          1.175          0.792          0.995          0              0              0
  97  Cabinet         1.723          0.402          -0.296         0              180            0
  98  StoveKnob       0.588          1.093          1.557          287.970        0              0
  99  StoveKnob       0.188          1.093          1.557          287.970        0              0
 100  StoveKnob       0.749          1.093          1.557          287.970        0              0
 101  StoveKnob       0.338          1.093          1.557          287.970        0              0
 102  Toaster         1.934          0.900          -0.717         0              0              0
 103  LightSwitch     -1.662         1.427          1.649          0              180            0
 104  GarbageCan      -1.965         -0.029         1.358          0              270            0
 105  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 106  Fridge          3.043          0.0            -0.709         0              0              0
 107  Window          -2.183         1.501          -0.014         90             270            0
 108  SinkBasin       0.043          0.755          -0.651         0              0              0
 109  Microwave       0.531          1.675          1.437          0              180            0
 110  DiningTable     -0.836         8.404          -1.258         0              0              0
 111  Chair           -1.611         0.002          -1.185         0              45             0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: go to the counter to your left where the coffee maker and cup sit | STEP 2: pick up the knife that is to the right of the cup | STEP 3: put the knife int the cup | STEP 4: pick up the cup with the knife in it
 | STEP 5: carry the knife and cup across the room to the right corner  | STEP 6: place the cup with the knife still in it on the table  | END