Task: place a cup with a knife in it on top of the kitchen table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          1.5            0              270            0
   1  DishSponge      -0.657         0.900          1.040          0              90             0              90
   2  DishSponge      0.737          0.692          2.271          0              0              0              43
   3  ButterKnife     -1.578         0.823          3.545          0              0              0              72
   4  ButterKnife     -0.524         0.900          1.143          0              90             0              90
   5  Pot             0.913          0.850          1.375          0              0              0              48
   6  Spoon           -2.171         0.699          3.632          0              90             0              61
   7  Fork            -0.524         0.901          1.246          0              90             0              90
   8  Fork            0.635          0.692          2.163          0              90             0              43
   9  Plate           0.742          0.129          0.981          0              0              0              51
  10  Cup             -2.862         1.398          3.897          0              0              0              63
  11  Cup             -1.853         1.683          3.858          0              0              0              44
  12  SoapBottle      -1.317         0.900          1.040          0              90             0              90
  13  SoapBottle      -0.921         0.900          1.349          0              90             0              90
  14  Bowl            -2.851         0.821          3.405          0              0              0              72
  15  Bowl            0.781          0.124          2.572          0              0              0              56
  16  PepperShaker    1.099          0.819          2.458          0              0              0              54
  17  PepperShaker    -2.619         1.845          2.191          0              0              0              59
  18  Bread           -1.185         0.953          1.452          0              90             0              90
  19  Mug             -1.109         0.940          1.203          0              0              0              90
  20  Apple           -1.694         1.420          3.901          0              180            0              78
  21  Plate           0.743          0.129          2.198          0              0              0              64
  22  Fork            0.839          0.692          2.163          0              90             0              43
  23  Bread           0.827          0.861          2.449          0              0              0              49
  24  Spatula         -0.524         0.915          0.937          0              90             0              90
  25  PaperTowelRoll  1.099          0.927          0.984          0              0              0              49
  26  Potato          -2.374         0.866          3.575          0              0              0              72
  27  SoapBottle      0.931          0.023          2.889          0              0              0              83
  28  Egg             -0.657         0.936          0.937          0              90             0              90
  29  Cup             0.800          0.822          2.198          0              0              0              54
  30  Pot             0.913          0.850          1.768          0              0              0              70
  31  SaltShaker      -1.138         0.819          3.836          0              0              0              72
  32  Pan             -2.667         0.812          3.74           0              137.145        0              72
  33  PepperShaker    1.024          0.819          1.117          0              0              0              49
  34  ButterKnife     -0.524         0.900          1.452          0              90             0              90
  35  Tomato          0.800          0.891          1.072          0              0              0              49
  36  DishSponge      0.770          0.691          2.460          0              0              0              46
  37  Lettuce         -2.461         0.843          2.277          0              90             0              81
  38  Spoon           -1.698         0.824          3.556          0              0              0              72
  39  Apple           -1.538         1.420          3.836          0              180            0              78
  40  Knife           -0.789         0.923          1.246          0              180            0              90
  41  Mug             -2.643         1.403          2.389          0              90             0              81
  42  Bowl            -2.694         1.189          2.389          0              90             0              81
  43  Drawer          0.729          0.703          2.199          0              0              0
  44  Cabinet         -1.962         1.926          3.733          0              0              0
  45  Cabinet         -2.377         2.014          1.058          0              0              0
  46  Drawer          0.729          0.703          2.532          0              0              0
  47  Cabinet         -2.622         1.925          3.733          0              0              0
  48  StoveBurner     0.913          0.843          1.375          0              0              0
  49  CounterTop      0.864          0.858          0.984          0              0              0
  50  Cabinet         -1.976         1.779          3.734          0              0              0
  51  Cabinet         0.580          0.385          0.819          0              0              0
  52  Cabinet         -2.379         1.408          1.677          0              0              0
  53  Cabinet         -0.419         1.703          3.736          0              0              0
  54  CounterTop      0.864          0.858          2.371          0              0              0
  55  Sink            -1.702         0.726          3.828          0              180            0
  56  Cabinet         0.580          0.385          2.694          0              0              0
  57  Cabinet         -2.379         0.637          1.677          0              0              0
  58  Cabinet         -0.419         0.674          3.736          0              0              0
  59  Cabinet         -2.377         2.014          2.558          0              0              0
  60  Drawer          0.729          0.703          0.980          0              0              0
  61  Drawer          -2.114         0.706          3.657          0              0              0
  62  Cabinet         -2.377         1.691          2.572          0              0              0
  63  Cabinet         -2.951         1.925          3.733          0              0              0
  64  Cabinet         0.580          0.385          2.360          0              0              0
  65  Cabinet         -2.426         0.435          3.421          0              0              0
  66  StoveBurner     0.642          0.843          1.375          0              0              0
  67  Cabinet         -2.377         1.927          1.686          0              0              0
  68  Cabinet         -2.377         2.013          3.177          0              0              0
  69  Cabinet         -1.136         0.385          3.516          0              0              0
  70  StoveBurner     0.913          0.843          1.768          0              0              0
  71  Cabinet         -1.974         0.385          3.516          0              0              0
  72  CounterTop      -2.081         0.858          3.799          0              0              0
  73  Cabinet         -2.426         0.435          3.174          0              0              0
  74  Cabinet         -2.377         2.014          1.693          0              0              0
  75  Cabinet         -1.986         0.385          3.511          0              0              0
  76  StoveBurner     0.642          0.843          1.768          0              0              0
  77  Cabinet         -1.098         1.926          3.729          0              0              0
  78  Microwave       -1.529         1.250          3.881          1.622          180            0
  79  CoffeeMachine   1.000          0.812          2.492          0              270            0
  80  LightSwitch     0.825          1.396          4.082          0              180            0
  81  Fridge          -2.642         0.0            2.134          0              180            0
  82  Window          -1.131         1.673          0.808          90             0              0
  83  GarbageCan      0.931          -0.000         2.918          0              0              0
  84  SinkBasin       -1.601         0.686          3.774          0              0              0
  85  StoveKnob       1.104          1.002          1.886          0              0              70.346
  86  StoveKnob       1.104          1.002          1.733          0              0              70.346
  87  StoveKnob       1.104          1.002          1.321          0              0              70.346
  88  StoveKnob       1.104          1.002          1.481          0              0              70.346
  89  Toaster         -2.247         0.812          3.862          0              180            0
  90  DiningTable     -0.917         -0.000         1.203          0              0              0
  91  Stool           -0.932         0.000          1.404          1.196          21.715         0
  92  Faucet          -1.842         0.809          3.984          0              180            0
  93  Faucet          -1.371         0.809          3.985          0              180            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: turn around and walk to the stove at the opposite end of the room, then turn around to face the kitchen table | STEP 2: grab the butter knife off of the kitchen table | STEP 3: turn around and face the kitchen counter to the left of the stove | STEP 4: place the knife inside of the cup on the counter | STEP 5: pick up the cup with the knife in it | STEP 6: turn around and walk forwards until you reach the kitchen table on your left, then turn to face the kitchen table | STEP 7: place the cup on top of the kitchen table | END