Task: Put a knife in a cup 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           -3.75          0.900          1.25           0              0              0
   1  Potato          -0.263         0.425          1.967          0              180            0              81
   2  Book            -1.516         0.908          -1.265         0              0              0              56
   3  DishSponge      -0.897         0.192          2.136          0              90             0              86
   4  ButterKnife     -3.122         0.878          2.968          0              225            0              58
   5  ButterKnife     -2.807         0.878          2.715          0              0              0              58
   6  Kettle          0.124          0.929          -1.429         0              270            0              53
   7  WineBottle      3.743          0.881          1.861          0              270            0              77
   8  Spatula         -2.114         0.734          -1.579         0              270            0              75
   9  Pot             1.328          0.957          -1.420         0              180            0              60
  10  Pot             -1.627         0.914          -1.591         0              0              0              56
  11  Fork            0.124          0.929          -1.573         0              0              0              53
  12  Fork            -2.321         0.875          2.999          0              0              0              58
  13  Plate           -0.330         0.711          -1.573         0              270            0              85
  14  Plate           -0.034         0.807          2.194          0              180            0              81
  15  Knife           -1.849         0.934          0.363          0              0              0              56
  16  Knife           -2.353         0.896          3.632          0              45             0              58
  17  SoapBottle      -1.557         1.657          -1.674         0              0              0              69
  18  SoapBottle      0.633          0.117          -1.370         0              0              0              63
  19  Tomato          0.079          1.191          2.246          0              180            0              81
  20  Tomato          0.709          0.959          -1.369         0              0              0              56
  21  PepperShaker    0.549          0.112          -1.483         0              0              0              63
  22  Bread           -2.300         0.958          3.580          0              225            0              58
  23  Bread           -2.584         0.961          2.884          0              0              0              58
  24  Book            -2.183         0.908          -1.265         0              0              0              56
  25  Fork            -2.300         0.879          2.863          0              135            0              58
  26  Tomato          -2.584         0.922          3.390          0              0              0              58
  27  Egg             -0.263         0.828          2.023          0              180            0              81
  28  Kettle          -0.833         0.900          -1.757         0              0              0              56
  29  Vase            0.663          0.913          -1.776         0              0              0              56
  30  Cup             -1.516         0.910          -0.288         0              0              0              56
  31  WineBottle      -2.382         0.879          3.183          0              225            0              58
  32  Plate           0.307          1.576          2.160          0              180            0              81
  33  Spatula         -0.040         0.943          -1.573         0              90             0              53
  34  Potato          -2.996         0.911          3.147          0              270            0              58
  35  Pot             -1.849         0.914          -0.614         0              0              0              56
  36  Knife           0.289          0.950          -1.573         0              270            0              53
  37  SaltShaker      -2.510         0.871          3.053          0              0              0              58
  38  PepperShaker    0.700          1.649          -1.785         0              0              0              67
  39  Lettuce         -1.516         0.977          0.363          0              0              0              56
  40  ButterKnife     -2.584         0.874          3.728          0              0              0              58
  41  Bread           -3.165         0.958          3.296          0              270            0              58
  42  Vase            -2.013         0.120          -1.726         0              0              0              57
  43  DishSponge      -2.183         0.911          -0.614         0              0              0              56
  44  Apple           -2.436         0.929          3.390          0              0              0              58
  45  Pan             0.972          0.959          -1.426         0              0              0              74
  46  Spoon           1.651          0.911          -1.346         0              0              0              76
  47  SoapBottle      -1.888         1.657          -1.784         0              0              0              52
  48  Mug             1.584          0.109          -1.338         0              180            0              62
  49  Statue          3.793          0.559          1.449          0              270            0              79
  50  Statue          -1.627         0.910          -0.614         0              90             0              56
  51  Bowl            -1.649         0.117          -0.841         0              0              0              61
  52  Cabinet         -2.171         2.009          -1.538         0              0              0
  53  Sink            0.024          0.771          -1.708         0              270            0
  54  Cabinet         1.444          2.259          -1.542         0              0              0
  55  StoveBurner     0.974          0.957          -1.688         0              180            0
  56  CounterTop      -1.866         0.947          -0.614         0              0              0
  57  Cabinet         -2.217         0.373          -1.874         0              0              0
  58  DiningTable     -2.663         0.002          3.208          0              0              0
  59  StoveBurner     1.328          0.957          -1.688         0              180            0
  60  StoveBurner     1.328          0.957          -1.420         0              180            0
  61  Cabinet         -1.478         0.373          -1.235         0              0              0
  62  Cabinet         1.775          0.372          -1.242         0              0              0
  63  Cabinet         0.774          0.372          -1.242         0              0              0
  64  Cabinet         0.375          0.372          -1.242         0              0              0
  65  Cabinet         -0.574         0.372          -1.238         0              0              0
  66  Cabinet         1.775          2.009          -1.542         0              0              0
  67  Cabinet         0.524          2.009          -1.542         0              0              0
  68  Cabinet         -0.714         2.009          -1.542         0              0              0
  69  Cabinet         -1.671         2.009          -1.538         0              0              0
  70  Cabinet         0.854          2.259          -1.542         0              0              0
  71  Drawer          -1.636         0.683          -0.930         0              0              0
  72  Drawer          1.650          0.682          -1.396         0              0              0
  73  Drawer          0.600          0.682          -1.396         0              0              0
  74  StoveBurner     0.974          0.957          -1.419         0              180            0
  75  Drawer          -2.062         0.683          -1.579         0              0              0
  76  CounterTop      1.645          0.945          -1.527         0              0              0
  77  Shelf           3.725          0.880          1.671          0              90             0
  78  LightSwitch     2.830          1.266          -0.748         0              0              0
  79  Shelf           3.726          0.552          1.671          0              90             0
  80  Microwave       1.150          1.655          -1.614         0              0              0
  81  Fridge          -0.035         0.0            2.177          0              180            0
  82  Window          -0.115         1.802          -1.896         90             0              0
  83  Window          -4.009         1.799          0.310          90             90             0
  84  Shelf           3.726          0.172          1.671          0              90             0
  85  SinkBasin       -0.330         0.686          -1.581         0              270            0
  86  GarbageCan      -0.870         -0.001         2.136          0              90             0
  87  StoveKnob       1.089          0.913          -1.243         45             0              0
  88  StoveKnob       1.208          0.913          -1.243         45             0              0
  89  StoveKnob       1.340          0.913          -1.243         45             0              0
  90  StoveKnob       0.961          0.913          -1.243         45             0              0
  91  Toaster         1.637          0.900          -1.673         0              0              0
  92  Chair           -3.505         0.002          3.290          0              105.736        0
  93  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  94  HousePlant      -2.663         0.835          3.209          0              0              0
  95  Faucet          -0.187         0.922          -1.75          0              311.166        0
  96  ShelvingUnit    3.726          0.006          1.671          0              90             0
  97  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  98  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  99  Chair           -2.934         0.002          2.437          0              28.531         0
 100  Chair           -1.698         0.002          3.235          0              245.204        0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Go straight to the chair in the corner and turn right towards the table. | STEP 2: Pick up the knife that is to the right of the potato. | STEP 3: Turn to the right, then go left towards the fridge, make a right towards the dishwasher and turn right towards the cup on the counter. | STEP 4: Put the knife in the cup on the counter. | STEP 5: Pick up the cup with the knife in it. | STEP 6: Turn right towards the fridge, turn left and head back to the table on the right. | STEP 7: Put the cup to the left of the bread and potato. | END