Task: Put wine glass with knife on table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.901          2.0            0              0              0
   1  Potato          2.227          0.977          2.063          0              0              0              48
   2  Ladle           -0.349         0.835          0.377          0              0              0              75
   3  DishSponge      2.206          1.500          2.104          0              0              0              51
   4  Pot             1.866          0.935          1.504          0              180            0              52
   5  Spatula         -0.272         0.788          0.713          0              0              0              75
   6  Fork            -0.119         0.791          0.377          0              0              0              75
   7  Egg             -0.263         0.079          -0.801         0              90             0              70
   8  Plate           1.925          0.086          2.057          0              0              0              44
   9  SoapBottle      -0.196         0.791          1.217          0              0              0              75
  10  Bowl            2.000          1.320          -0.007         0              270            0              69
  11  SaltShaker      -0.115         0.076          2.197          0              0              0              42
  12  PepperShaker    -0.119         0.785          0.545          0              0              0              75
  13  PepperShaker    -0.272         0.785          1.386          0              0              0              75
  14  Mug             2.064          0.989          2.462          0              225            0              74
  15  Apple           2.137          0.910          -0.278         0              270            0              69
  16  Apple           1.840          0.988          0.509          0              0              0              59
  17  Egg             1.790          0.980          2.743          0              0              0              48
  18  Lettuce         1.170          0.857          2.529          0              180            0              72
  19  Fork            -0.041         0.938          2.451          0              180            0              48
  20  SoapBottle      2.091          1.502          2.469          0              90             0              41
  21  Ladle           1.227          0.125          2.523          0              0              0              54
  22  Ladle           -0.096         0.942          2.546          6.893          45             340.406        48
  23  Bread           -0.200         0.824          0.830          0              355.159        0              75
  24  SaltShaker      -0.042         0.785          1.049          0              0              0              75
  25  Potato          2.076          1.559          -0.278         0              270            0              69
  26  Pan             1.863          0.935          1.106          0              0              0              62
  27  WineBottle      2.203          1.504          0.785          0              0              0              56
  28  Spatula         1.815          0.760          1.991          0              90             0              63
  29  Knife           0.033          0.816          0.377          0              90             0              75
  30  Tomato          0.033          0.837          1.386          0              0              0              75
  31  Apple           -0.349         0.840          1.217          0              0              0              75
  32  ButterKnife     1.673          0.937          2.511          0              0              0              48
  33  Pot             2.112          1.323          -0.279         0              0              0              69
  34  PepperShaker    1.840          0.933          0.731          0              0              0              59
  35  Cup             2.074          0.935          2.063          0              0              0              48
  36  DishSponge      1.954          0.746          1.991          0              0              0              63
  37  Plate           2.059          0.342          -0.279         0              270            0              69
  38  Spoon           1.941          0.746          0.721          0              0              0              57
  39  Mug             0.032          0.076          2.265          0              0              0              42
  40  Bowl            2.243          1.945          1.515          0              0              0              53
  41  Cabinet         2.041          2.113          2.618          0              0              0
  42  Cabinet         0.126          0.388          1.774          0              0              0
  43  StoveBurner     2.140          0.929          1.504          0              180            0
  44  Cabinet         1.760          0.388          2.346          0              0              0
  45  Cabinet         1.760          0.388          0.869          0              0              0
  46  Cabinet         2.041          1.810          0.283          0              0              0
  47  Drawer          -0.024         0.774          2.061          0              0              0
  48  CounterTop      1.065          0.973          2.666          0              0              0
  49  Cabinet         1.969          2.113          2.618          0              0              0
  50  StoveBurner     2.140          0.929          1.106          0              0              0
  51  Cabinet         2.041          2.113          1.809          0              0              0
  52  StoveBurner     1.866          0.929          1.504          0              180            0
  53  Cabinet         2.041          2.113          1.766          0              0              0
  54  Cabinet         1.514          0.388          2.360          0              0              0
  55  Cabinet         0.351          0.388          2.360          0              0              0
  56  Cabinet         2.041          1.810          0.872          0              0              0
  57  Drawer          2.167          0.774          0.582          0              0              0
  58  Cabinet         2.041          2.113          0.892          0              0              0
  59  CounterTop      2.060          0.973          0.583          0              0              0
  60  Sink            0.935          0.936          2.646          0              0              0
  61  Curtains        0.964          2.061          2.989          0              0              0
  62  StoveBurner     1.863          0.929          1.106          0              0              0
  63  Drawer          1.911          0.774          2.060          0              0              0
  64  StoveKnob       2.326          1.092          1.610          288.013        90             0
  65  StoveKnob       2.326          1.092          1.460          288.013        90             0
  66  StoveKnob       2.326          1.092          1.210          288.013        90             0
  67  StoveKnob       2.326          1.092          1.050          288.013        90             0
  68  Toaster         2.126          0.926          0.572          0              270            0
  69  Fridge          2.104          0.0            -0.279         0              270            0
  70  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  71  LightSwitch     0.354          1.518          -1.031         0              0              0
  72  SinkBasin       0.903          0.784          2.640          0              0              0
  73  Microwave       -0.310         0.926          2.077          0              90             0
  74  CoffeeMachine   2.084          0.927          2.667          0              225            0
  75  DiningTable     -0.153         -0.000         1.073          0              270            0
  76  Faucet          1.175          0.926          2.950          270            90             0
  77  Faucet          0.686          0.926          2.950          270            90             0
  78  Chair           -0.077         0.002          0.196          0              15.000         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Go to right of sink | STEP 2: Pick up knife on counter next to sink | STEP 3: Turn to the counter to the left with the wine glass | STEP 4: Place knife in wine glass on counter | STEP 5: Pick up wine glass with knife | STEP 6: Turn right, go toward the door, turn to the white table on the right with the chair | STEP 7: Place wine glass with knife on table in front of left end of coconut | END