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           -1.0           0.900          0.25           0              90             0
   1  Fork            0.446          0.773          0.305          0              0              0              42
   2  Spatula         -2.065         0.967          0.524          0              270            0              79
   3  Spatula         -2.477         0.967          0.345          0              0              0              79
   4  Egg             -0.427         0.105          0.612          0              90             0              75
   5  Cup             -1.928         0.950          0.614          0              90             0              79
   6  Plate           1.681          1.329          -1.809         0              180            0              62
   7  Knife           0.649          0.944          -1.582         0              270            0              44
   8  SoapBottle      -0.394         0.068          0.482          0              90             0              75
   9  Bowl            -2.31          1.492          -1.763         0              0              0              76
  10  Bowl            1.663          0.911          0.292          0              0              0              61
  11  PepperShaker    -2.065         0.948          0.524          0              90             0              79
  12  Lettuce         -2.065         1.042          0.345          0              90             0              79
  13  Mug             -1.079         1.010          -1.737         0              0              0              68
  14  Mug             -2.047         0.775          -1.806         0              0              0              76
  15  Mug             0.618          0.945          0.469          0              180            0              70
  16  Apple           -2.614         1.019          0.435          0              90             0              79
  17  Bread           1.846          0.995          0.540          0              0              0              61
  18  Knife           0.960          0.944          -1.582         0              270            0              44
  19  Fork            0.167          0.912          0.209          0              0              0              45
  20  Bowl            -2.222         1.051          -1.806         0              0              0              76
  21  Kettle          1.007          0.962          0.561          0              270            0              48
  22  Cup             1.535          0.910          -1.654         0              0              0              46
  23  Tomato          0.856          0.968          -1.649         0              270            0              44
  24  SoapBottle      -0.296         0.068          0.482          0              90             0              75
  25  Plate           -1.791         0.953          0.345          0              90             0              79
  26  Pot             -2.383         0.94           0.583          0              0              0              79
  27  Spatula         -2.340         0.967          0.345          0              90             0              79
  28  PaperTowelRoll  -0.361         0.174          0.396          0              90             0              75
  29  Egg             -2.614         0.987          0.704          0              90             0              79
  30  Lettuce         0.035          1.002          0.375          0              0              0              45
  31  SaltShaker      -0.359         0.908          -1.820         0              0              0              46
  32  PepperShaker    -1.928         0.948          0.165          0              90             0              79
  33  Apple           -0.329         0.137          0.612          0              90             0              75
  34  ButterKnife     1.412          0.912          -1.820         0              0              0              46
  35  Potato          -0.872         1.045          -1.671         0              0              0              68
  36  Pan             1.361          0.962          0.561          0              270            0              51
  37  DishSponge      0.804          0.919          -1.449         0              270            0              44
  38  Spoon           -1.791         0.953          0.165          0              180            0              79
  39  Mug             -2.135         0.506          -1.720         0              0              0              76
  40  Cabinet         -0.193         1.688          -1.648         0              180            0
  41  StoveBurner     1.360          0.957          0.293          0              180            0
  42  Drawer          0.499          0.792          0.296          0              0              0
  43  Cabinet         0.095          0.400          -1.352         0              180            0
  44  Sink            0.711          0.817          -1.772         0              270            0
  45  CounterTop      0.280          0.947          0.458          0              0              0
  46  CounterTop      -0.680         0.947          -1.654         0              0              0
  47  Drawer          1.825          0.792          0.296          0              0              0
  48  StoveBurner     1.007          0.957          0.561          0              270            0
  49  Drawer          -0.150         0.792          -1.496         0              0              0
  50  Drawer          -0.586         0.792          -1.496         0              0              0
  51  StoveBurner     1.360          0.957          0.561          0              270            0
  52  Drawer          0.024          0.792          0.296          0              0              0
  53  Cabinet         1.079          0.400          -1.349         0              180            0
  54  Cabinet         1.669          0.402          0.151          0              0              0
  55  Cabinet         0.055          0.402          -1.351         0              0              0
  56  Cabinet         -0.180         0.402          0.151          0              0              0
  57  Cabinet         0.729          0.402          0.151          0              0              0
  58  StoveBurner     1.007          0.957          0.293          0              180            0
  59  Drawer          -1.100         0.792          -1.496         0              0              0
  60  Cabinet         -0.396         0.402          -1.351         0              0              0
  61  CounterTop      1.776          0.947          0.458          0              0              0
  62  Cabinet         1.974          1.688          -1.648         0              180            0
  63  Cabinet         -0.820         0.400          -1.349         0              180            0
  64  Toaster         0.305          0.900          0.552          0              180            0
  65  LightSwitch     -2.756         1.307          -0.987         0              90             0
  66  Window          0.582          1.613          -1.967         90             0              0
  67  Window          1.969          1.5            -0.615         90             270            0
  68  Microwave       -1.037         0.900          -1.723         0              0              0
  69  SinkBasin       0.377          0.765          -1.655         0              270            0
  70  CoffeeMachine   0.618          0.900          0.600          0              180            0
  71  StoveKnob       1.246          0.913          0.118          45             180            0
  72  StoveKnob       1.373          0.913          0.118          45             180            0
  73  StoveKnob       0.995          0.913          0.118          45             180            0
  74  StoveKnob       1.126          0.913          0.118          45             180            0
  75  GarbageCan      -0.368         -0.029         0.539          0              90             0
  76  Fridge          -2.134         0.0            -1.690         0              0              0
  77  Faucet          0.549          1.046          -1.833         0              232.527        0
  78  Stool           -1.475         0.000          0.414          1.233          280.375        0
  79  DiningTable     -2.255         -0.004         0.432          0              0              0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: turn and go to the counter by the sink. | STEP 2: Pick up a knife on the counter.  | STEP 3: Turn and go to the refrigerator.  | STEP 4: Put the knife in the cup in the refrigerator. | STEP 5: Pick up the cup in the refrigerator. | STEP 6: Turn around and go to the table.  | STEP 7: Put the cup on the table.  | END