Task: place a cup with a knife in it down 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           -1.75          0.900          3.25           0              0              0
   1  Pan             0.913          0.850          1.375          0              0              0              49
   2  DishSponge      -2.098         1.398          3.818          0              0              0              51
   3  Pot             0.913          0.850          1.768          0              0              0              71
   4  Spoon           -0.524         0.901          1.040          0              90             0              91
   5  Fork            0.703          0.691          1.016          0              270            0              61
   6  Fork            -2.563         0.823          3.405          0              0              0              73
   7  Egg             0.902          0.060          2.947          0              0              0              84
   8  Plate           -1.359         1.687          3.897          0              0              0              78
   9  Plate           -2.786         1.402          3.897          0              0              0              64
  10  Cup             -1.309         0.697          3.857          0              0              0              85
  11  Knife           -1.457         0.846          3.514          0              0              0              73
  12  Knife           -1.317         0.923          1.349          0              90             0              91
  13  Tomato          -0.657         0.969          1.555          0              90             0              91
  14  Bowl            0.743          0.124          2.238          0              0              0              65
  15  Bowl            -2.636         1.189          2.389          0              90             0              82
  16  PepperShaker    -0.513         1.237          3.881          0              0              0              54
  17  SaltShaker      -2.501         0.153          1.295          0              0              0              58
  18  SaltShaker      -2.478         1.038          1.144          0              0              0              53
  19  Lettuce         -1.185         0.976          1.555          0              90             0              91
  20  Mug             -2.461         0.762          2.389          0              90             0              82
  21  Mug             -0.754         1.236          3.810          0              0              0              54
  22  Plate           -1.817         0.131          3.675          0              0              0              72
  23  Fork            0.800          0.823          0.984          0              0              0              50
  24  Bread           -2.519         1.048          2.277          0              90             0              82
  25  Spatula         0.712          0.848          2.134          0              200.845        0              55
  26  PaperTowelRoll  -2.744         0.927          3.947          0              0              0              73
  27  Potato          -1.317         0.943          0.937          0              90             0              91
  28  SoapBottle      -2.501         1.398          3.897          0              0              0              48
  29  Egg             -1.486         1.395          3.868          0              180            0              79
  30  Cup             -2.580         1.634          3.025          0              0              0              69
  31  Pot             0.642          0.850          1.768          0              0              0              77
  32  SaltShaker      -1.053         0.896          1.349          0              90             0              91
  33  Pan             -2.667         0.812          3.74           0              137.145        0              73
  34  PepperShaker    0.650          0.819          1.117          0              0              0              50
  35  ButterKnife     0.725          0.823          2.198          0              0              0              55
  36  Tomato          -0.913         0.962          1.484          0              0              0              91
  37  DishSponge      -2.424         1.398          3.818          0              0              0              51
  38  Lettuce         -0.580         0.956          1.358          31.822         0              0              91
  39  Spoon           1.024          0.824          0.939          0              0              0              50
  40  Apple           -1.694         1.420          3.967          0              180            0              79
  41  Knife           -0.657         0.923          1.246          0              180            0              91
  42  Mug             1.099          0.818          0.895          0              0              0              50
  43  Bowl            -2.580         1.847          1.217          0              0              0              46
  44  Drawer          0.729          0.703          2.199          0              0              0
  45  Cabinet         -1.962         1.926          3.733          0              0              0
  46  Cabinet         -2.377         2.014          1.058          0              0              0
  47  Drawer          0.729          0.703          2.532          0              0              0
  48  Cabinet         -2.622         1.925          3.733          0              0              0
  49  StoveBurner     0.913          0.843          1.375          0              0              0
  50  CounterTop      0.864          0.858          0.984          0              0              0
  51  Cabinet         -1.976         1.779          3.734          0              0              0
  52  Cabinet         0.580          0.385          0.819          0              0              0
  53  Cabinet         -2.379         1.408          1.677          0              0              0
  54  Cabinet         -0.419         1.703          3.736          0              0              0
  55  CounterTop      0.864          0.858          2.371          0              0              0
  56  Sink            -1.702         0.726          3.828          0              180            0
  57  Cabinet         0.580          0.385          2.694          0              0              0
  58  Cabinet         -2.379         0.637          1.677          0              0              0
  59  Cabinet         -0.419         0.674          3.736          0              0              0
  60  Cabinet         -2.377         2.014          2.558          0              0              0
  61  Drawer          0.729          0.703          0.980          0              0              0
  62  Drawer          -2.114         0.706          3.657          0              0              0
  63  Cabinet         -2.377         1.691          2.572          0              0              0
  64  Cabinet         -2.951         1.925          3.733          0              0              0
  65  Cabinet         0.580          0.385          2.360          0              0              0
  66  Cabinet         -2.426         0.435          3.421          0              0              0
  67  StoveBurner     0.642          0.843          1.375          0              0              0
  68  Cabinet         -2.377         1.927          1.686          0              0              0
  69  Cabinet         -2.377         2.013          3.177          0              0              0
  70  Cabinet         -1.136         0.385          3.516          0              0              0
  71  StoveBurner     0.913          0.843          1.768          0              0              0
  72  Cabinet         -1.974         0.385          3.516          0              0              0
  73  CounterTop      -2.081         0.858          3.799          0              0              0
  74  Cabinet         -2.426         0.435          3.174          0              0              0
  75  Cabinet         -2.377         2.014          1.693          0              0              0
  76  Cabinet         -1.986         0.385          3.511          0              0              0
  77  StoveBurner     0.642          0.843          1.768          0              0              0
  78  Cabinet         -1.098         1.926          3.729          0              0              0
  79  Microwave       -1.529         1.250          3.881          1.622          180            0
  80  CoffeeMachine   1.000          0.812          2.492          0              270            0
  81  LightSwitch     0.825          1.396          4.082          0              180            0
  82  Fridge          -2.642         0.0            2.134          0              180            0
  83  Window          -1.131         1.673          0.808          90             0              0
  84  GarbageCan      0.931          -0.000         2.918          0              0              0
  85  SinkBasin       -1.601         0.686          3.774          0              0              0
  86  StoveKnob       1.104          1.002          1.886          0              0              70.346
  87  StoveKnob       1.104          1.002          1.733          0              0              70.346
  88  StoveKnob       1.104          1.002          1.321          0              0              70.346
  89  StoveKnob       1.104          1.002          1.481          0              0              70.346
  90  Toaster         -2.247         0.812          3.862          0              180            0
  91  DiningTable     -0.917         -0.000         1.203          0              0              0
  92  Stool           -0.932         0.000          1.404          1.196          21.715         0
  93  Faucet          -1.842         0.809          3.984          0              180            0
  94  Faucet          -1.371         0.809          3.985          0              180            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: turn around and walk over to the kitchen counter left of the stove | STEP 2: grab the butter knife off of the stove | STEP 3: turn around and walk over to the kitchen sink right of the fridge | STEP 4: place the knife inside of the cup in the sink | STEP 5: grab the cup out of the sink with the knife in it | STEP 6: turn around and walk straight ahead over to the coffee maker on the while table | STEP 7: place the cup down on the table in between the two tomatoes | END