Task: Put a knife into a cup

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.908          2.5            0              180            0
   1  Pan             0.502          0.939          -0.740         0              90             0              83
   2  SprayBottle     -1.211         0.911          -0.902         0              90             0              82
   3  SprayBottle     1.117          0.885          2.153          0              0              0              108
   4  Potato          -1.263         1.681          1.086          0              90             0              96
   5  CellPhone       1.450          0.884          2.477          0              0              0              108
   6  CellPhone       -1.105         0.746          2.644          0              0              0              57
   7  Glassbottle     -1.383         0.749          2.087          0              0              0              57
   8  Glassbottle     1.262          0.117          0.030          0              0              0              68
   9  WineBottle      1.200          0.887          2.261          0              0              0              108
  10  Fork            -1.123         0.912          -0.828         0              0              0              82
  11  Spatula         -0.503         0.927          -0.509         0              0              0              82
  12  Spatula         1.367          0.901          2.153          0              0              0              108
  13  Pot             0.502          0.939          -0.469         0              0              0              89
  14  Pot             0.802          0.939          -0.740         0              90             0              85
  15  Egg             -1.263         1.671          1.188          0              90             0              96
  16  Cup             -1.263         1.420          0.988          0              90             0              96
  17  Cup             1.325          1.655          -0.274         0              0              0              58
  18  Cup             -1.296         1.014          0.098          0              90             0              102
  19  Knife           1.444          0.933          -0.144         0              0              0              76
  20  Knife           -0.130         0.934          -0.348         0              0              0              82
  21  Tomato          -1.320         1.686          0.680          0              90             0              96
  22  Tomato          1.357          0.135          1.472          0              0              0              97
  23  Lettuce         -1.197         0.819          2.830          0              0              0              57
  24  SaltShaker      -1.197         0.745          3.015          0              0              0              57
  25  SaltShaker      1.117          0.882          2.261          0              0              0              108
  26  PepperShaker    -0.658         0.908          -0.907         0              0              0              82
  27  PepperShaker    -0.170         0.112          -0.446         0              0              0              82
  28  Mug             1.215          0.943          -0.633         0              320.314        0              95
  29  Apple           1.365          0.971          0.422          0              0              0              76
  30  Apple           1.450          0.946          2.584          0              0              0              108
  31  Bread           1.207          0.974          0.706          0              0              0              76
  32  Glassbottle     1.358          1.661          0.253          0              0              0              58
  33  Fork            0.041          0.759          -0.651         0              90             0              103
  34  Kettle          -1.105         0.749          2.459          0              0              0              57
  35  Tomato          -0.919         0.799          1.902          0              0              0              57
  36  Plate           1.034          0.887          2.692          0              0              0              108
  37  CellPhone       1.117          0.884          2.477          0              0              0              108
  38  Lettuce         -1.206         1.707          0.883          0              90             0              96
  39  Pot             -1.206         0.751          1.092          0              90             0              96
  40  SoapBottle      1.207          0.912          -0.428         0              0              0              76
  41  WineBottle      1.450          0.887          2.261          0              0              0              108
  42  Spatula         1.365          0.926          -0.428         0              90             0              76
  43  Bowl            -1.383         0.747          3.015          0              0              0              57
  44  Apple           -0.144         0.818          -0.533         0              0              0              103
  45  Cup             -1.105         0.748          1.902          0              0              0              57
  46  Knife           1.444          0.933          -0.428         0              90             0              76
  47  Egg             -1.329         1.049          -0.057         0              90             0              102
  48  SaltShaker      -1.308         0.113          0.289          0              180            0              79
  49  PepperShaker    1.523          0.907          -0.428         0              0              0              76
  50  Potato          -0.919         0.794          2.087          0              0              0              57
  51  ButterKnife     -0.968         0.912          -0.589         0              0              0              82
  52  DishSponge      -1.012         0.749          2.273          0              0              0              57
  53  Pan             -1.332         0.9            -0.699         0              345.0          0              82
  54  Spoon           -1.184         0.777          -0.136         0              270            0              80
  55  SprayBottle     1.262          0.115          1.119          0              0              0              97
  56  Mug             1.284          0.881          2.369          0              0              0              108
  57  DiningTable     -1.182         0.006          2.414          0              90             0
  58  Cabinet         1.184          2.059          0.375          0              0              0
  59  Cabinet         1.184          2.059          -0.635         0              0              0
  60  Cabinet         0.591          2.309          -0.645         0              0              0
  61  Cabinet         -0.574         2.059          -0.644         0              0              0
  62  Cabinet         -1.103         2.059          -0.644         0              0              0
  63  Cabinet         -1.185         2.059          -0.331         0              0              0
  64  Cabinet         -1.185         2.059          -0.281         0              0              0
  65  Cabinet         -1.185         2.059          0.375          0              0              0
  66  Cabinet         1.184          2.309          1.174          0              0              0
  67  Cabinet         1.184          2.309          0.424          0              0              0
  68  Cabinet         0.988          0.402          0.581          0              0              0
  69  Cabinet         0.988          0.402          0.531          0              0              0
  70  Cabinet         0.988          0.402          -0.178         0              0              0
  71  Cabinet         0.335          0.402          -0.348         0              0              0
  72  Cabinet         -0.374         0.402          -0.348         0              0              0
  73  Cabinet         0.988          0.402          1.231          0              0              0
  74  Cabinet         -1.185         2.309          1.374          0              0              0
  75  Cabinet         -1.185         2.309          0.424          0              0              0
  76  CounterTop      1.274          0.947          0.064          0              0              0
  77  Drawer          1.116          0.792          -0.015         0              0              0
  78  Drawer          -1.116         0.792          0.210          0              180            0
  79  Cabinet         -0.990         0.402          0.374          0              180            0
  80  Drawer          -1.116         0.792          -0.170         0              180            0
  81  Cabinet         -0.990         0.402          -0.335         0              180            0
  82  CounterTop      -1.001         0.947          -0.669         0              0              0
  83  StoveBurner     0.502          0.932          -0.740         0              90             0
  84  StoveBurner     0.801          0.932          -0.473         0              0              0
  85  StoveBurner     0.801          0.932          -0.740         0              90             0
  86  Drawer          1.116          0.792          1.081          0              0              0
  87  Sink            -0.013         0.912          -0.615         0              0              0
  88  Drawer          1.116          0.792          0.732          0              0              0
  89  StoveBurner     0.502          0.932          -0.469         0              0              0
  90  Drawer          1.116          0.792          0.367          0              0              0
  91  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  92  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  93  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  94  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  95  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  96  Fridge          -1.300         0.008          0.987          0              90             0
  97  GarbageCan      1.296          -0.024         1.465          0              0              0
  98  Window          -0.012         1.641          -0.972         90             0              0
  99  Window          1.598          1.646          2.489          90             270            0
 100  Toaster         1.356          0.900          1.044          0              270            0
 101  LightSwitch     0.118          1.353          3.799          0              180            0
 102  Microwave       -1.343         0.900          0.053          0              90             0
 103  SinkBasin       -0.029         0.748          -0.612         0              0              0
 104  Faucet          -0.026         0.927          -0.808         0              0              0
 105  Shelf           -1.182         0.127          2.414          0              90             0
 106  Stool           1.140          0.007          3.262          1.206          20.753         0
 107  Shelf           -1.182         0.435          2.414          0              90             0
 108  DiningTable     1.169          0.014          2.569          0              0              1.896
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Walk to the sink then turn right and go to the microwave | STEP 2: Take the cup out of the microwave | STEP 3: Turn left to face the kitchen counter | STEP 4: Put the cup on the counter | STEP 5: Pick up the knife from behind the cup | STEP 6: Put the knife in the cup | END