Task: put an orange cup and knife onto 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           3.25           0.900          1.5            0              270            0
   1  Pan             1.328          0.957          -1.420         0              180            0              61
   2  Vase            0.549          0.117          -1.370         0              0              0              64
   3  Potato          -2.353         0.911          2.811          0              135            0              59
   4  DishSponge      -2.436         0.878          3.559          0              0              0              59
   5  DishSponge      0.069          0.928          -1.573         0              270            0              54
   6  Kettle          0.997          2.157          -1.673         0              0              0              71
   7  WineBottle      -0.348         0.122          -1.413         0              0              0              66
   8  Spatula         -2.996         0.889          3.221          0              270            0              59
   9  Fork            -3.017         0.879          2.863          0              225            0              59
  10  Fork            -1.516         0.912          -0.939         0              0              0              57
  11  Spoon           -2.554         0.875          3.116          0              225            0              59
  12  Spoon           -2.353         0.875          3.632          0              225            0              59
  13  Egg             -0.149         0.828          2.308          0              180            0              82
  14  Cup             -1.961         0.910          -0.614         0              0              0              57
  15  Cup             1.616          0.113          -1.338         0              0              0              77
  16  Cup             1.210          1.759          -1.562         0              0              0              81
  17  Plate           -0.035         1.148          2.167          0              180            0              82
  18  Knife           -2.510         0.896          3.390          0              0              0              59
  19  SaltShaker      -2.659         0.874          3.073          0              270            0              59
  20  SaltShaker      -2.510         0.874          2.715          0              0              0              59
  21  PepperShaker    0.599          0.714          -1.443         0              0              0              74
  22  Bread           1.651          0.993          -1.346         0              0              0              77
  23  Lettuce         -1.627         0.977          0.363          0              0              0              57
  24  Mug             -1.112         0.958          -1.479         0              0              0              94
  25  Book            -2.845         0.875          3.513          0              135            0              59
  26  Fork            -1.516         0.912          -1.265         0              0              0              57
  27  Tomato          -2.659         0.922          3.728          0              0              0              59
  28  Egg             0.079          0.414          2.083          0              180            0              82
  29  Kettle          1.328          0.957          -1.688         0              180            0              60
  30  Vase            -1.888         1.658          -1.674         0              0              0              53
  31  Cup             -0.040         0.927          -1.501         0              270            0              54
  32  WineBottle      0.093          0.115          -1.342         0              0              0              65
  33  Plate           -0.377         1.148          2.167          0              180            0              82
  34  Spatula         0.234          0.945          -1.646         0              90             0              54
  35  Potato          -2.881         0.915          2.884          0              0              0              59
  36  Pot             -1.849         0.914          -0.939         0              0              0              57
  37  Knife           1.760          0.932          -1.528         0              90             0              77
  38  SaltShaker      -2.420         0.871          2.983          0              135            0              59
  39  PepperShaker    -2.436         0.874          3.221          0              0              0              59
  40  Lettuce         -2.248         0.939          2.916          0              135            0              59
  41  ButterKnife     -2.152         0.878          3.073          0              270            0              59
  42  Bread           -0.149         1.655          2.040          0              180            0              82
  43  Vase            3.689          0.882          1.861          0              270            0              78
  44  DishSponge      -0.897         0.192          2.136          0              90             0              87
  45  Apple           -2.584         0.933          2.884          0              0              0              59
  46  Pan             -0.263         0.802          2.080          0              180            0              82
  47  Spoon           -2.321         0.875          3.370          0              270            0              59
  48  SoapBottle      -0.237         0.122          -1.413         0              0              0              66
  49  Mug             0.079          1.567          1.921          0              180            0              82
  50  Statue          3.637          0.559          1.449          0              270            0              80
  51  Statue          3.668          0.540          1.800          0              0              0              80
  52  Bowl            -1.961         0.910          -0.288         0              0              0              57
  53  Cabinet         -2.171         2.009          -1.538         0              0              0
  54  Sink            0.024          0.771          -1.708         0              270            0
  55  Cabinet         1.444          2.259          -1.542         0              0              0
  56  StoveBurner     0.974          0.957          -1.688         0              180            0
  57  CounterTop      -1.866         0.947          -0.614         0              0              0
  58  Cabinet         -2.217         0.373          -1.874         0              0              0
  59  DiningTable     -2.663         0.002          3.208          0              0              0
  60  StoveBurner     1.328          0.957          -1.688         0              180            0
  61  StoveBurner     1.328          0.957          -1.420         0              180            0
  62  Cabinet         -1.478         0.373          -1.235         0              0              0
  63  Cabinet         1.775          0.372          -1.242         0              0              0
  64  Cabinet         0.774          0.372          -1.242         0              0              0
  65  Cabinet         0.375          0.372          -1.242         0              0              0
  66  Cabinet         -0.574         0.372          -1.238         0              0              0
  67  Cabinet         1.775          2.009          -1.542         0              0              0
  68  Cabinet         0.524          2.009          -1.542         0              0              0
  69  Cabinet         -0.714         2.009          -1.542         0              0              0
  70  Cabinet         -1.671         2.009          -1.538         0              0              0
  71  Cabinet         0.854          2.259          -1.542         0              0              0
  72  Drawer          -1.636         0.683          -0.930         0              0              0
  73  Drawer          1.650          0.682          -1.396         0              0              0
  74  Drawer          0.600          0.682          -1.396         0              0              0
  75  StoveBurner     0.974          0.957          -1.419         0              180            0
  76  Drawer          -2.062         0.683          -1.579         0              0              0
  77  CounterTop      1.645          0.945          -1.527         0              0              0
  78  Shelf           3.725          0.880          1.671          0              90             0
  79  LightSwitch     2.830          1.266          -0.748         0              0              0
  80  Shelf           3.726          0.552          1.671          0              90             0
  81  Microwave       1.150          1.655          -1.614         0              0              0
  82  Fridge          -0.035         0.0            2.177          0              180            0
  83  Window          -0.115         1.802          -1.896         90             0              0
  84  Window          -4.009         1.799          0.310          90             90             0
  85  Shelf           3.726          0.172          1.671          0              90             0
  86  SinkBasin       -0.330         0.686          -1.581         0              270            0
  87  GarbageCan      -0.870         -0.001         2.136          0              90             0
  88  StoveKnob       1.089          0.913          -1.243         45             0              0
  89  StoveKnob       1.208          0.913          -1.243         45             0              0
  90  StoveKnob       1.340          0.913          -1.243         45             0              0
  91  StoveKnob       0.961          0.913          -1.243         45             0              0
  92  Toaster         1.637          0.900          -1.673         0              0              0
  93  Chair           -3.505         0.002          3.290          0              105.736        0
  94  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  95  HousePlant      -2.663         0.835          3.209          0              0              0
  96  Faucet          -0.187         0.922          -1.75          0              311.166        0
  97  ShelvingUnit    3.726          0.006          1.671          0              90             0
  98  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  99  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 100  Chair           -2.934         0.002          2.437          0              28.531         0
 101  Chair           -1.698         0.002          3.235          0              245.204        0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: walk to face round kitchen table | STEP 2: pick up butter knife from table | STEP 3: walk to face counter top with orange cup | STEP 4: put knife into orange cup on counter | STEP 5: pick up orange cup from counter top | STEP 6: walk to face left side of round table | STEP 7: put orange cup on table in front of plant | END