Task: Place the cup with a knife on the circle table.

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          0.0            0              270            0
   1  DishSponge      -2.019         0.423          1.417          0              270            0              95
   2  Kettle          2.754          0.912          1.383          0              0              0              77
   3  Kettle          0.678          0.964          1.345          0              0              0              80
   4  ButterKnife     -0.055         0.911          1.214          0              90             0              53
   5  Pot             0.281          0.964          1.347          0              0              0              57
   6  Pot             1.688          0.915          1.468          0              0              0              77
   7  Fork            -0.766         0.821          -1.257         0              90             0              101
   8  Fork            1.902          0.771          -0.498         0              90             0              56
   9  Spatula         0.888          0.926          -0.684         0              90             0              42
  10  Spatula         1.955          0.926          1.044          0              0              0              77
  11  Plate           2.777          1.566          -0.578         0              0              0              97
  12  Cup             0.415          1.782          1.391          0              180            0              100
  13  Egg             0.518          1.822          1.455          0              180            0              100
  14  Egg             0.263          0.803          -0.596         0              0              0              99
  15  Knife           -0.836         0.853          -1.328         0              180            0              101
  16  SoapBottle      -0.887         0.826          -1.328         0              0              0              101
  17  SaltShaker      1.635          1.651          -0.849         0              180            0              64
  18  SaltShaker      -0.240         0.908          -0.330         0              0              0              42
  19  SoapBottle      1.155          0.917          1.044          0              0              0              77
  20  Plate           2.488          0.914          1.214          0              0              0              77
  21  Fork            -0.227         0.771          1.122          0              90             0              47
  22  Pot             0.281          0.964          1.082          0              0              0              48
  23  Bread           2.221          0.969          1.468          0              0              0              77
  24  Egg             -0.694         0.858          -1.155         0              90             0              101
  25  Kettle          -0.198         0.912          1.299          0              0              0              53
  26  Tomato          2.962          1.050          -0.447         0              0              0              97
  27  Cup             1.955          1.653          1.429          0              0              0              54
  28  Spatula         -0.055         0.926          1.129          0              0              0              53
  29  Apple           2.156          0.980          -0.684         0              0              0              42
  30  Pan             0.678          0.964          1.082          0              0              0              45
  31  Lettuce         2.913          1.345          -0.613         15.100         4.744          18.666         97
  32  SaltShaker      2.221          0.908          1.214          0              0              0              77
  33  Knife           -0.983         0.853          -1.206         0              270            0              101
  34  Potato          2.653          0.761          -0.565         0              0              0              97
  35  PepperShaker    -0.990         0.817          -1.038         0              0              0              101
  36  ButterKnife     1.955          0.911          1.129          0              90             0              77
  37  Bowl            1.487          1.652          1.508          0              0              0              65
  38  DishSponge      -0.017         0.765          -0.651         0              0              0              99
  39  Spoon           2.837          0.772          1.198          0              0              0              86
  40  Mug             2.653          1.283          -0.578         0              0              0              97
  41  Sink            0.050          0.902          -0.648         0              0              0
  42  CounterTop      1.358          0.947          -0.600         0              0              0
  43  Cabinet         2.986          2.009          1.304          0              0              0
  44  Cabinet         1.022          2.009          -0.607         0              180            0
  45  StoveBurner     0.678          0.923          1.082          0              0              0
  46  Cabinet         2.371          0.402          0.995          0              0              0
  47  Drawer          -0.125         0.792          0.995          0              0              0
  48  StoveBurner     0.281          0.923          1.082          0              0              0
  49  Cabinet         1.025          0.402          0.995          0              0              0
  50  Cabinet         1.023          0.402          -0.296         0              180            0
  51  Cabinet         0.974          2.259          1.304          0              0              0
  52  Cabinet         0.979          2.009          -0.607         0              180            0
  53  CounterTop      -0.158         0.947          1.299          0              0              0
  54  Cabinet         1.725          2.009          1.304          0              0              0
  55  Drawer          2.205          0.792          -0.294         0              180            0
  56  Drawer          1.869          0.792          -0.294         0              180            0
  57  StoveBurner     0.281          0.923          1.347          0              0              0
  58  Drawer          2.512          0.792          0.995          0              0              0
  59  Cabinet         1.673          0.402          -0.296         0              180            0
  60  Drawer          1.524          0.792          0.995          0              0              0
  61  Drawer          1.174          0.792          -0.294         0              180            0
  62  Cabinet         1.720          0.402          0.995          0              0              0
  63  Cabinet         2.348          2.009          -0.607         0              180            0
  64  Cabinet         1.676          2.009          -0.607         0              180            0
  65  Cabinet         1.673          2.009          1.304          0              0              0
  66  Cabinet         2.326          2.009          1.304          0              0              0
  67  Cabinet         2.370          2.009          1.304          0              0              0
  68  Cabinet         0.021          2.009          1.304          0              0              0
  69  Cabinet         1.025          2.009          1.304          0              0              0
  70  Cabinet         -0.274         0.402          0.995          0              0              0
  71  Cabinet         1.675          0.402          0.995          0              0              0
  72  Drawer          1.524          0.792          -0.294         0              180            0
  73  Drawer          2.187          0.792          0.995          0              0              0
  74  Cabinet         2.977          0.402          0.995          0              0              0
  75  Drawer          1.862          0.792          0.995          0              0              0
  76  Cabinet         0.072          2.259          1.304          0              0              0
  77  CounterTop      1.917          0.947          1.299          0              0              0
  78  Cabinet         2.328          0.402          0.995          0              0              0
  79  Cabinet         1.723          2.009          -0.607         0              180            0
  80  StoveBurner     0.677          0.923          1.345          0              0              0
  81  Cabinet         0.355          2.009          -0.607         0              180            0
  82  Cabinet         0.332          2.009          -0.607         0              180            0
  83  Cabinet         2.349          0.402          -0.296         0              180            0
  84  Cabinet         -0.284         2.009          -0.607         0              180            0
  85  Faucet          0.061          0.906          -0.903         0              0              0
  86  Drawer          2.837          0.792          0.995          0              0              0
  87  Drawer          1.175          0.792          0.995          0              0              0
  88  Cabinet         1.723          0.402          -0.296         0              180            0
  89  StoveKnob       0.588          1.093          1.557          287.970        0              0
  90  StoveKnob       0.188          1.093          1.557          287.970        0              0
  91  StoveKnob       0.749          1.093          1.557          287.970        0              0
  92  StoveKnob       0.338          1.093          1.557          287.970        0              0
  93  Toaster         1.934          0.900          -0.717         0              0              0
  94  LightSwitch     -1.662         1.427          1.649          0              180            0
  95  GarbageCan      -1.965         -0.029         1.358          0              270            0
  96  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  97  Fridge          3.043          0.0            -0.709         0              0              0
  98  Window          -2.183         1.501          -0.014         90             270            0
  99  SinkBasin       0.043          0.755          -0.651         0              0              0
 100  Microwave       0.531          1.675          1.437          0              180            0
 101  DiningTable     -0.836         8.404          -1.258         0              0              0
 102  Chair           -1.611         0.002          -1.185         0              45             0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn around, walk past the oven, and then turn left to find a loaf of bread on the counter. | STEP 2: Pick up the knife to the left of the bread. | STEP 3: Look up to the cabinets above. | STEP 4: Open the left cabinet and place the knife in the clear cup. | STEP 5: Take out the cup with the knife from the cabinet and close it. | STEP 6: Turn left, walk past the kitchen counter, and turn left towards a small circle table. | STEP 7: Place the glass cup next to the salt shaker on the table. | END