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           -3.5           0.900          -1.0           0              90             0
   1  Pan             0.974          0.957          -1.419         0              180            0              77
   2  Pan             0.974          0.957          -1.688         0              180            0              58
   3  Potato          -0.404         0.733          -1.678         0              270            0              88
   4  Potato          -3.174         0.915          3.422          0              135            0              61
   5  DishSponge      -2.048         0.718          -1.716         0              0              0              78
   6  DishSponge      -1.649         0.719          -0.859         0              0              0              74
   7  WineBottle      -0.871         0.193          2.097          0              90             0              89
   8  WineBottle      -0.237         0.122          -1.333         0              0              0              68
   9  Spatula         -2.405         0.893          2.758          0              135            0              61
  10  Spatula         -2.490         0.893          3.147          0              90             0              61
  11  Pot             -2.733         0.877          3.559          0              0              0              61
  12  Fork            -2.152         0.879          3.221          0              270            0              61
  13  Fork            -0.330         0.708          -1.573         0              270            0              88
  14  Cup             0.289          0.927          -1.429         0              270            0              56
  15  Cup             -0.034         1.142          2.206          0              180            0              84
  16  Plate           -2.793         0.882          2.878          0              225            0              61
  17  Plate           -1.649         0.123          -0.841         0              0              0              64
  18  SoapBottle      -1.269         0.912          -1.267         0              0              0              59
  19  SoapBottle      0.633          0.117          -1.370         0              0              0              66
  20  Bowl            -2.584         0.872          2.715          0              0              0              61
  21  Bowl            -0.035         1.570          2.040          0              180            0              84
  22  SaltShaker      -2.088         0.116          -1.506         0              0              0              60
  23  PepperShaker    -1.649         0.716          -1.001         0              0              0              74
  24  PepperShaker    1.614          0.906          -1.437         0              0              0              79
  25  Lettuce         -2.996         0.939          3.370          0              270            0              61
  26  Apple           -1.378         0.967          -1.776         0              0              0              59
  27  Book            -1.627         0.908          0.037          0              0              0              59
  28  Fork            0.179          0.929          -1.501         0              270            0              56
  29  Tomato          0.193          1.619          2.160          0              180            0              84
  30  Egg             -0.035         0.414          2.112          0              180            0              84
  31  Kettle          -1.738         0.913          -1.591         0              0              0              59
  32  Vase            3.586          0.554          1.760          0              270            0              82
  33  Cup             0.571          0.910          -1.471         0              0              0              59
  34  WineBottle      -0.844         0.193          2.213          0              90             0              89
  35  Plate           0.079          0.807          2.251          0              180            0              84
  36  Spatula         0.014          0.943          -1.501         0              270            0              56
  37  Potato          0.663          0.948          -1.572         0              0              0              59
  38  Pot             -2.072         0.914          -1.265         0              0              0              59
  39  Knife           -2.072         0.934          -0.614         0              0              0              59
  40  SaltShaker      1.724          0.906          -1.437         0              0              0              79
  41  PepperShaker    0.150          0.110          -1.487         0              0              0              67
  42  Lettuce         -0.263         1.637          2.160          0              180            0              84
  43  ButterKnife     -1.627         0.912          -1.265         0              0              0              59
  44  Bread           -2.367         0.958          3.035          0              135            0              61
  45  Vase            -1.961         0.913          -0.939         0              0              0              59
  46  DishSponge      0.997          2.156          -1.710         0              0              0              73
  47  Apple           -0.263         0.444          2.054          0              180            0              84
  48  Pan             1.328          0.957          -1.688         0              180            0              62
  49  Spoon           0.069          0.929          -1.718         0              270            0              56
  50  SoapBottle      -2.525         0.875          3.565          0              225            0              61
  51  Mug             -2.088         0.114          -1.653         0              0              0              60
  52  Statue          3.676          0.168          1.410          0              334.521        0              82
  53  Statue          -1.738         0.910          0.363          0              0              0              59
  54  Bowl            1.157          1.759          -1.629         0              0              0              83
  55  Cabinet         -2.171         2.009          -1.538         0              0              0
  56  Sink            0.024          0.771          -1.708         0              270            0
  57  Cabinet         1.444          2.259          -1.542         0              0              0
  58  StoveBurner     0.974          0.957          -1.688         0              180            0
  59  CounterTop      -1.866         0.947          -0.614         0              0              0
  60  Cabinet         -2.217         0.373          -1.874         0              0              0
  61  DiningTable     -2.663         0.002          3.208          0              0              0
  62  StoveBurner     1.328          0.957          -1.688         0              180            0
  63  StoveBurner     1.328          0.957          -1.420         0              180            0
  64  Cabinet         -1.478         0.373          -1.235         0              0              0
  65  Cabinet         1.775          0.372          -1.242         0              0              0
  66  Cabinet         0.774          0.372          -1.242         0              0              0
  67  Cabinet         0.375          0.372          -1.242         0              0              0
  68  Cabinet         -0.574         0.372          -1.238         0              0              0
  69  Cabinet         1.775          2.009          -1.542         0              0              0
  70  Cabinet         0.524          2.009          -1.542         0              0              0
  71  Cabinet         -0.714         2.009          -1.542         0              0              0
  72  Cabinet         -1.671         2.009          -1.538         0              0              0
  73  Cabinet         0.854          2.259          -1.542         0              0              0
  74  Drawer          -1.636         0.683          -0.930         0              0              0
  75  Drawer          1.650          0.682          -1.396         0              0              0
  76  Drawer          0.600          0.682          -1.396         0              0              0
  77  StoveBurner     0.974          0.957          -1.419         0              180            0
  78  Drawer          -2.062         0.683          -1.579         0              0              0
  79  CounterTop      1.645          0.945          -1.527         0              0              0
  80  Shelf           3.725          0.880          1.671          0              90             0
  81  LightSwitch     2.830          1.266          -0.748         0              0              0
  82  Shelf           3.726          0.552          1.671          0              90             0
  83  Microwave       1.150          1.655          -1.614         0              0              0
  84  Fridge          -0.035         0.0            2.177          0              180            0
  85  Window          -0.115         1.802          -1.896         90             0              0
  86  Window          -4.009         1.799          0.310          90             90             0
  87  Shelf           3.726          0.172          1.671          0              90             0
  88  SinkBasin       -0.330         0.686          -1.581         0              270            0
  89  GarbageCan      -0.870         -0.001         2.136          0              90             0
  90  StoveKnob       1.089          0.913          -1.243         45             0              0
  91  StoveKnob       1.208          0.913          -1.243         45             0              0
  92  StoveKnob       1.340          0.913          -1.243         45             0              0
  93  StoveKnob       0.961          0.913          -1.243         45             0              0
  94  Toaster         1.637          0.900          -1.673         0              0              0
  95  Chair           -3.505         0.002          3.290          0              105.736        0
  96  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  97  HousePlant      -2.663         0.835          3.209          0              0              0
  98  Faucet          -0.187         0.922          -1.75          0              311.166        0
  99  ShelvingUnit    3.726          0.006          1.671          0              90             0
 100  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 101  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 102  Chair           -2.934         0.002          2.437          0              28.531         0
 103  Chair           -1.698         0.002          3.235          0              245.204        0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Take a step to your right then walk to the counter. | STEP 2: Pick up the butter knife that's in front of you to the left of the tea pot. | STEP 3: Turn left and take a step left then walk past the counter to your right then turn right and walk to the fridge then turn right and walk to the counter to the left of the sink. | STEP 4: Put the knife in the cup that's furthest to the left near the potato. | STEP 5: Pick up the cup with the knife in it. | STEP 6: Turn right and walk to the counter then walk past the counter on your left and turn left and walk to the wall then turn right and walk to the chair and turn right. | STEP 7: Put the cup with a knife it it on the table. | END