Task: put the knife in a cup on the end table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -1.0           0              0              0
   1  ButterKnife     -4.062         0.691          -0.491         0              0              0              79
   2  ButterKnife     -0.577         0.751          -2.792         0              90             0              49
   3  ButterKnife     -2.962         0.894          -0.204         0              270            0              81
   4  Spatula         -1.694         0.957          -3.673         0              0              0              44
   5  Egg             -3.688         0.801          -3.133         0              199.125        0              80
   6  Cup             -0.164         1.939          -2.285         0              0              0              54
   7  Cup             -3.565         0.895          -0.633         0              270            0              81
   8  Cup             -3.870         0.760          -3.511         0              244.125        0              80
   9  Plate           -0.213         1.956          -0.660         0              0              0              51
  10  Plate           -0.214         1.951          -1.108         0              0              0              52
  11  Knife           -3.565         0.920          -0.290         0              270            0              81
  12  Knife           -2.560         0.920          -0.204         0              270            0              81
  13  Bowl            -0.334         1.284          -0.297         0              270            0              74
  14  Bowl            -3.163         0.892          -0.204         0              270            0              81
  15  Bread           -2.761         0.976          -0.548         0              270            0              81
  16  Bread           -3.485         0.841          -3.599         0              334.125        0              80
  17  SaltShaker      -0.543         0.748          -2.632         0              0              0              49
  18  SaltShaker      -0.552         0.937          -1.581         0              0              0              62
  19  PepperShaker    -1.216         0.749          -3.447         0              0              0              50
  20  PepperShaker    -0.058         1.934          -1.215         0              0              0              52
  21  Mug             -0.397         0.937          -2.906         0              0              0              44
  22  Mug             -0.389         0.075          -2.793         0              0              0              57
  23  SoapBottle      -3.840         0.758          -3.219         0              244.125        0              80
  24  Pot             -0.222         0.961          -1.845         0              180            0              46
  25  Fork            -0.465         0.747          -1.488         0              90             0              48
  26  Cup             -3.759         0.760          -3.387         0              244.125        0              80
  27  Tomato          -0.252         1.337          -0.878         0              270            0              74
  28  Pan             -0.222         0.961          -2.243         0              0              0              63
  29  Plate           -3.942         0.704          -0.430         0              0              0              79
  30  Bread           -3.314         0.841          -3.241         0              244.125        0              80
  31  Spatula         -0.315         0.956          -1.406         0              180            0              62
  32  Knife           -4.062         0.716          -0.308         0              0              0              79
  33  SaltShaker      -1.143         0.938          -3.830         0              45             0              44
  34  PepperShaker    -0.440         0.747          -2.899         0              0              0              49
  35  ButterKnife     -0.547         0.813          -3.318         0              315            0              73
  36  Apple           -4.182         0.751          -0.187         0              0              0              79
  37  DishSponge      -2.359         0.894          -0.633         0              270            0              81
  38  Potato          -0.397         1.520          -0.762         0              270            0              74
  39  Egg             -3.882         0.732          -0.248         0              0              0              79
  40  Spoon           -0.702         0.814          -3.395         0              315            0              73
  41  Lettuce         -0.321         1.579          -0.646         0              270            0              74
  42  Mug             -0.417         1.281          -0.529         0              270            0              74
  43  Bowl            -0.283         1.487          -0.878         0              270            0              74
  44  CounterTop      -1.937         0.977          -3.673         0              0              0
  45  StoveBurner     -0.437         0.924          -1.845         0              180            0
  46  StoveBurner     -0.222         0.924          -1.845         0              180            0
  47  StoveBurner     -0.437         0.924          -2.243         0              0              0
  48  Drawer          -0.500         0.779          -1.450         0              0              0
  49  Drawer          -0.481         0.777          -2.739         0              0              0
  50  Drawer          -1.154         0.782          -3.499         0              0              0
  51  Cabinet         -0.337         2.110          -0.390         0              0              0
  52  Cabinet         -0.337         2.110          -1.272         0              0              0
  53  Cabinet         -0.337         2.110          -1.631         0              0              0
  54  Cabinet         -0.337         2.110          -2.497         0              0              0
  55  Cabinet         -0.337         1.891          -1.286         0              0              0
  56  Cabinet         -0.346         1.891          -3.293         0              0              0
  57  Cabinet         -0.629         0.388          -2.513         0              0              0
  58  Cabinet         -0.633         0.388          -3.008         0              0              0
  59  Cabinet         -1.010         0.388          -3.368         0              0              0
  60  Cabinet         -0.629         0.388          -1.614         0              0              0
  61  Cabinet         -0.327         1.886          -2.513         0              0              0
  62  CounterTop      -0.326         0.976          -1.450         0              0              0
  63  StoveBurner     -0.222         0.924          -2.243         0              0              0
  64  Sink            -0.600         0.929          -3.388         0              0              0
  65  StoveKnob       -0.617         0.899          -1.833         315            90             180
  66  StoveKnob       -0.617         0.899          -2.129         315            90             180
  67  StoveKnob       -0.617         0.899          -2.289         315            90             180
  68  StoveKnob       -0.617         0.899          -1.975         315            90             180
  69  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  70  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  71  Window          -1.389         1.610          -4.113         90             0              0
  72  LightSwitch     -4.372         1.493          -1.031         0              90             0
  73  SinkBasin       -0.614         0.802          -3.384         0              315            0
  74  Fridge          -0.314         0.0            -0.646         0              0              0
  75  Toaster         -1.970         0.930          -3.763         0              0              0
  76  Microwave       -0.216         1.470          -2.054         0              270            0
  77  Blinds          -1.373         2.205          -3.961         0              0              0
  78  Faucet          -0.393         0.930          -3.614         270            225            0
  79  SideTable       -4.030         0.002          -0.301         0              185.034        0
  80  DiningTable     -3.586         0.000          -3.258         0              0              0
  81  DiningTable     -3.224         -0.003         -0.453         0              0              0
  82  Shelf           -4.030         0.259          -0.301         0              185.034        0
  83  Shelf           -4.030         0.489          -0.301         0              185.034        0
  84  EastWall
  85  EastWall
  86  SouthWall

Plan:
STEP 1: turn left, walk to the wall, turn right to face the end table | STEP 2: pick up the butter knife on the end table | STEP 3: turn around and walk to the round table | STEP 4: put the knife in a cup | STEP 5: pick up the cup on the round table | STEP 6: Turn around and walk back to the end table | STEP 7: set the cup on the end table | END