Task: Put a knife into a cup in the fridge, put them 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            0.901          0.25           0              180            0
   1  Potato          2.225          0.978          0.806          0              0              0              63
   2  WineBottle      1.673          0.938          2.898          0              0              0              52
   3  WineBottle      -0.041         0.082          2.129          0              0              0              46
   4  DishSponge      0.566          0.080          2.484          0              0              0              59
   5  ButterKnife     -0.042         0.791          0.713          0              0              0              79
   6  Spatula         2.024          0.760          1.922          0              90             0              67
   7  Spoon           1.673          0.938          2.511          0              0              0              52
   8  Fork            1.815          0.746          1.991          0              90             0              67
   9  Fork            0.002          0.746          2.129          0              0              0              51
  10  Cup             0.060          0.935          2.688          0              0              0              52
  11  Plate           1.298          0.085          2.523          0              0              0              58
  12  SoapBottle      0.708          0.082          2.562          0              0              0              59
  13  Tomato          -0.167         0.983          2.757          0              0              0              52
  14  PepperShaker    1.880          1.498          2.692          0              0              0              53
  15  Lettuce         2.168          1.383          -0.369         0              90             0              73
  16  Lettuce         2.056          1.383          -0.188         0              270            0              73
  17  Mug             2.165          1.498          0.725          0              0              0              60
  18  Mug             2.064          0.989          2.462          0              225            0              78
  19  Mug             2.243          1.943          1.563          0              0              0              57
  20  Apple           2.112          1.373          -0.550         0              270            0              73
  21  Egg             -0.119         0.833          0.545          0              0              0              79
  22  Lettuce         2.023          0.400          -0.460         0              0              0              73
  23  Fork            -0.119         0.791          1.386          0              0              0              79
  24  SoapBottle      0.033          0.791          1.049          0              0              0              79
  25  Ladle           -0.196         0.835          1.049          0              0              0              79
  26  Ladle           1.964          0.126          1.915          0              90             0              48
  27  Bread           2.127          1.567          -0.278         0              270            0              73
  28  SaltShaker      0.033          0.785          0.377          0              0              0              79
  29  Potato          2.076          1.559          -0.460         0              270            0              73
  30  Pan             2.140          0.935          1.504          0              180            0              47
  31  WineBottle      2.301          0.939          0.361          0              0              0              63
  32  Spatula         1.065          0.810          2.529          0              90             0              76
  33  Knife           -0.042         0.816          1.217          0              270            0              79
  34  Tomato          0.033          0.837          1.217          0              0              0              79
  35  Apple           -0.263         0.087          -0.737         0              90             0              74
  36  ButterKnife     -0.119         0.791          0.881          0              0              0              79
  37  Pot             1.854          0.937          1.497          0              0              0              56
  38  PepperShaker    1.085          0.076          2.562          0              0              0              58
  39  Cup             -0.272         0.789          0.713          0              0              0              79
  40  DishSponge      1.790          0.937          2.898          0              0              0              52
  41  Plate           -0.312         0.781          0.409          0              0              0              79
  42  Spoon           1.941          0.746          0.514          0              0              0              61
  43  Mug             2.096          0.333          -0.279         0              270            0              73
  44  Bowl            2.167          1.945          1.002          0              0              0              62
  45  Cabinet         2.041          2.113          2.618          0              0              0
  46  Cabinet         0.126          0.388          1.774          0              0              0
  47  StoveBurner     2.140          0.929          1.504          0              180            0
  48  Cabinet         1.760          0.388          2.346          0              0              0
  49  Cabinet         1.760          0.388          0.869          0              0              0
  50  Cabinet         2.041          1.810          0.283          0              0              0
  51  Drawer          -0.024         0.774          2.061          0              0              0
  52  CounterTop      1.065          0.973          2.666          0              0              0
  53  Cabinet         1.969          2.113          2.618          0              0              0
  54  StoveBurner     2.140          0.929          1.106          0              0              0
  55  Cabinet         2.041          2.113          1.809          0              0              0
  56  StoveBurner     1.866          0.929          1.504          0              180            0
  57  Cabinet         2.041          2.113          1.766          0              0              0
  58  Cabinet         1.514          0.388          2.360          0              0              0
  59  Cabinet         0.351          0.388          2.360          0              0              0
  60  Cabinet         2.041          1.810          0.872          0              0              0
  61  Drawer          2.167          0.774          0.582          0              0              0
  62  Cabinet         2.041          2.113          0.892          0              0              0
  63  CounterTop      2.060          0.973          0.583          0              0              0
  64  Sink            0.935          0.936          2.646          0              0              0
  65  Curtains        0.964          2.061          2.989          0              0              0
  66  StoveBurner     1.863          0.929          1.106          0              0              0
  67  Drawer          1.911          0.774          2.060          0              0              0
  68  StoveKnob       2.326          1.092          1.610          288.013        90             0
  69  StoveKnob       2.326          1.092          1.460          288.013        90             0
  70  StoveKnob       2.326          1.092          1.210          288.013        90             0
  71  StoveKnob       2.326          1.092          1.050          288.013        90             0
  72  Toaster         2.126          0.926          0.572          0              270            0
  73  Fridge          2.104          0.0            -0.279         0              270            0
  74  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  75  LightSwitch     0.354          1.518          -1.031         0              0              0
  76  SinkBasin       0.903          0.784          2.640          0              0              0
  77  Microwave       -0.310         0.926          2.077          0              90             0
  78  CoffeeMachine   2.084          0.927          2.667          0              225            0
  79  DiningTable     -0.153         -0.000         1.073          0              270            0
  80  Faucet          1.175          0.926          2.950          270            90             0
  81  Faucet          0.686          0.926          2.950          270            90             0
  82  Chair           -0.077         0.002          0.196          0              15.000         0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn around, go forward a bit, turn left at the end of the table | STEP 2: Pick up the knife on the table | STEP 3: Turn left, go forward, turn left and go to the fridge | STEP 4: Open the fridge, put the knife into the cup in the fridge | STEP 5: Take the cup from the fridge, close the fridge | STEP 6: Turn left, go forward a bit, turn left go forward a bit, turn right, go forward a bit, turn left, go to the table | STEP 7: Put the cup with the knife in it on the table | END