Task: place a cup with a knife in it down on 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           0.75           0.869          -3.25          0              90             0
   1  Potato          0.799          0.805          -0.845         0              270            0              70
   2  Potato          -2.002         0.832          -3.771         0              0              0              69
   3  DishSponge      -1.556         0.699          -3.782         0              0              0              74
   4  DishSponge      0.769          0.760          -0.252         0              0              0              46
   5  ButterKnife     0.601          0.664          0.387          0              90             0              52
   6  ButterKnife     0.721          0.665          0.569          0              0              0              52
   7  Spatula         0.574          0.775          -0.124         0              90             0              46
   8  Spatula         0.149          0.915          0.929          0              270            0              73
   9  Spoon           0.866          0.761          -0.061         0              90             0              46
  10  Fork            -0.051         0.901          1.187          0              270            0              73
  11  Fork            0.781          0.665          0.326          0              90             0              52
  12  Egg             -1.635         0.738          -1.416         0              0              0              83
  13  Egg             -1.297         0.088          -3.684         0              270            0              62
  14  Cup             -0.252         0.899          1.187          0              270            0              73
  15  Cup             0.961          0.664          0.569          0              0              0              52
  16  Knife           0.817          0.783          0.002          0              270            0              46
  17  Tomato          0.661          0.713          0.508          0              90             0              52
  18  SoapBottle      -1.261         0.051          -3.574         0              270            0              62
  19  PepperShaker    0.721          0.661          0.387          0              0              0              52
  20  SaltShaker      1.040          1.460          0.039          0              0              0              58
  21  SaltShaker      1.055          0.879          -0.460         0              0              0              47
  22  Bread           -0.252         0.944          0.843          0              270            0              73
  23  Lettuce         0.746          0.751          -1.802         0              270            0              67
  24  Apple           0.715          0.826          -0.680         0              270            0              70
  25  Pot             -1.552         0.930          0.785          0              0              0              51
  26  Plate           0.676          0.019          -0.053         0              0              0              57
  27  Fork            0.799          0.773          -0.570         0              0              0              70
  28  SoapBottle      0.149          0.899          1.187          0              270            0              73
  29  Apple           0.672          0.826          -0.790         0              270            0              70
  30  Pan             -2.097         0.930          1.049          0              0              0              54
  31  Egg             -0.855         0.937          0.758          0              270            0              73
  32  Spatula         -0.252         0.915          1.272          0              0              0              73
  33  Potato          0.669          1.191          -1.802         0              270            0              67
  34  Cup             0.901          0.663          0.448          0              0              0              52
  35  SaltShaker      0.961          0.661          0.326          0              0              0              52
  36  PepperShaker    0.812          1.460          0.534          0              0              0              59
  37  ButterKnife     0.729          0.883          -0.108         0              0              0              47
  38  DishSponge      -1.599         0.699          -3.361         0              0              0              74
  39  Bread           -0.873         0.931          0.978          0              24.231         0              73
  40  Lettuce         0.785          1.461          -2.035         0              270            0              67
  41  Tomato          0.877          0.931          -0.176         0              0              0              47
  42  Spoon           0.769          0.760          -0.188         0              0              0              46
  43  Knife           -1.803         0.724          -0.875         0              180            0              83
  44  Mug             0.655          0.878          -0.176         0              270            0              47
  45  Bowl            -2.038         0.691          -1.003         0              0              0              83
  46  Drawer          0.706          0.766          -0.125         0              0              0
  47  CounterTop      0.792          0.919          -0.108         0              0              0
  48  Mirror          1.093          1.602          -0.643         0              0              0
  49  StoveBurner     -2.096         0.890          0.785          0              0              0
  50  Cabinet         0.507          0.345          -0.426         0              0              0
  51  StoveBurner     -1.552         0.890          0.785          0              0              0
  52  SideTable       0.770          -0.030         0.443          0              0              0
  53  Sink            0.753          0.882          -0.680         0              0              0
  54  StoveBurner     -2.096         0.890          1.049          0              0              0
  55  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  56  StoveBurner     -1.554         0.890          1.049          0              0              0
  57  Cabinet         0.507          0.345          0.156          0              0              0
  58  Cabinet         0.717          1.822          -0.398         0              0              0
  59  Cabinet         0.717          1.822          0.669          0              0              0
  60  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  61  Toaster         -0.522         0.886          1.081          0              180            0
  62  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  63  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  65  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  66  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  67  Fridge          0.680          -0.031         -1.957         0              0              0
  68  Window          -2.424         1.639          -2.453         90             270            0
  69  Microwave       -1.994         0.690          -3.651         0              0              0
  70  SinkBasin       0.757          0.762          -0.688         0              270            0
  71  LightSwitch     1.102          1.368          -3.737         0              270            0
  72  Shelf           -0.350         0.124          0.857          0              0              0
  73  DiningTable     -0.350         -0.025         0.857          0              0              0
  74  DiningTable     -1.909         -0.032         -3.507         0              0              0
  75  Blinds          -2.343         2.151          -2.437         0              270            0
  76  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  77  AluminumFoil    0.751          0.225          0.287          0              0              0
  78  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  79  Shelf           0.771          0.226          0.445          0              0              0
  80  Shelf           0.771          0.456          0.446          0              0              0
  81  Faucet          1.025          0.873          -0.678         270            180            0
  82  Shelf           -0.350         0.497          0.857          0              0              0
  83  DiningTable     -1.929         -0.035         -1.398         0              90             0
  84  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: turn around and walk past the fridge a bit, then turn right and walk over to the kitchen counter to the left of the sink | STEP 2: grab a butter knife off of the kitchen counter | STEP 3: turn to back up and then face the kitchen counter again | STEP 4: place the knife inside of the cup on the counter | STEP 5: pick the cup up off of the counter there | STEP 6: turn to back up a bit and then face the black table to the left of the counter | STEP 7: place the cup down on the black table to the left of the counter | END