Task: Put a cup with a knife in it on a 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           0.901          1.0            0              270            0
   1  Potato          2.071          0.978          0.361          0              90             0              60
   2  Ladle           0.174          0.982          2.618          0              0              0              49
   3  DishSponge      -0.282         0.937          2.757          0              0              0              49
   4  ButterKnife     -0.349         0.782          0.713          0              0              0              76
   5  ButterKnife     -0.042         0.791          1.049          0              0              0              76
   6  Spoon           -0.138         0.747          2.061          0              90             0              48
   7  Spoon           -0.119         0.792          0.377          0              0              0              76
   8  Fork            -0.272         0.791          1.217          0              0              0              76
   9  Fork            -0.196         0.791          0.545          0              270            0              76
  10  Plate           2.059          0.342          -0.369         0              270            0              70
  11  Knife           1.884          0.771          1.922          0              90             0              64
  12  Knife           0.735          0.827          2.695          0              270            0              73
  13  SoapBottle      1.840          0.939          0.583          0              0              0              60
  14  Bowl            2.164          0.599          -0.188         0              270            0              70
  15  Lettuce         0.033          0.852          0.545          0              180            0              76
  16  Apple           -0.294         1.085          1.961          0              90             0              74
  17  Apple           1.840          0.988          0.361          0              0              0              60
  18  Egg             1.276          0.837          2.750          0              0              0              73
  19  Lettuce         -0.042         0.852          0.377          0              0              0              76
  20  Fork            1.837          0.747          0.514          0              90             0              58
  21  SoapBottle      -0.196         0.791          1.049          0              0              0              76
  22  Ladle           -0.068         0.791          2.129          0              90             0              48
  23  Ladle           -0.196         0.835          1.386          0              0              0              76
  24  Bread           -0.200         0.824          0.827          0              0              0              76
  25  SaltShaker      -0.425         0.785          0.881          0              0              0              76
  26  Potato          2.079          0.642          -0.369         0              270            0              70
  27  Pan             2.140          0.935          1.504          0              180            0              44
  28  WineBottle      2.148          0.939          0.806          0              0              0              60
  29  Spatula         1.223          0.810          2.64           0              0              0              73
  30  Knife           1.802          0.772          0.583          0              90             0              58
  31  Tomato          -0.295         0.083          -0.769         0              90             0              71
  32  Apple           2.076          1.569          -0.460         0              270            0              70
  33  ButterKnife     -0.053         0.937          2.757          0              0              0              49
  34  Pot             1.863          0.935          1.106          0              0              0              63
  35  PepperShaker    -0.272         0.785          0.545          0              0              0              76
  36  Cup             1.997          0.935          2.260          0              0              0              49
  37  DishSponge      -0.078         0.080          1.993          0              0              0              48
  38  Plate           1.298          0.085          2.523          0              0              0              55
  39  Spoon           1.790          0.938          2.821          0              0              0              49
  40  Mug             2.064          0.989          2.462          0              225            0              75
  41  Bowl            2.000          1.320          -0.550         0              0              0              70
  42  Cabinet         2.041          2.113          2.618          0              0              0
  43  Cabinet         0.126          0.388          1.774          0              0              0
  44  StoveBurner     2.140          0.929          1.504          0              180            0
  45  Cabinet         1.760          0.388          2.346          0              0              0
  46  Cabinet         1.760          0.388          0.869          0              0              0
  47  Cabinet         2.041          1.810          0.283          0              0              0
  48  Drawer          -0.024         0.774          2.061          0              0              0
  49  CounterTop      1.065          0.973          2.666          0              0              0
  50  Cabinet         1.969          2.113          2.618          0              0              0
  51  StoveBurner     2.140          0.929          1.106          0              0              0
  52  Cabinet         2.041          2.113          1.809          0              0              0
  53  StoveBurner     1.866          0.929          1.504          0              180            0
  54  Cabinet         2.041          2.113          1.766          0              0              0
  55  Cabinet         1.514          0.388          2.360          0              0              0
  56  Cabinet         0.351          0.388          2.360          0              0              0
  57  Cabinet         2.041          1.810          0.872          0              0              0
  58  Drawer          2.167          0.774          0.582          0              0              0
  59  Cabinet         2.041          2.113          0.892          0              0              0
  60  CounterTop      2.060          0.973          0.583          0              0              0
  61  Sink            0.935          0.936          2.646          0              0              0
  62  Curtains        0.964          2.061          2.989          0              0              0
  63  StoveBurner     1.863          0.929          1.106          0              0              0
  64  Drawer          1.911          0.774          2.060          0              0              0
  65  StoveKnob       2.326          1.092          1.610          288.013        90             0
  66  StoveKnob       2.326          1.092          1.460          288.013        90             0
  67  StoveKnob       2.326          1.092          1.210          288.013        90             0
  68  StoveKnob       2.326          1.092          1.050          288.013        90             0
  69  Toaster         2.126          0.926          0.572          0              270            0
  70  Fridge          2.104          0.0            -0.279         0              270            0
  71  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  72  LightSwitch     0.354          1.518          -1.031         0              0              0
  73  SinkBasin       0.903          0.784          2.640          0              0              0
  74  Microwave       -0.310         0.926          2.077          0              90             0
  75  CoffeeMachine   2.084          0.927          2.667          0              225            0
  76  DiningTable     -0.153         -0.000         1.073          0              270            0
  77  Faucet          1.175          0.926          2.950          270            90             0
  78  Faucet          0.686          0.926          2.950          270            90             0
  79  Chair           -0.077         0.002          0.196          0              15.000         0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn right and walk to the sink. | STEP 2: Pick up the butter knife on the left side of the counter. | STEP 3: Turn right and walk to the counter to the left of the stove. | STEP 4: Place the knife in the cup on the counter. | STEP 5: Pick up the cup. | STEP 6: Turn around and walk left and ahead to the white table. | STEP 7: Put the cup on the table in front of the bread. | END