Task: put a cup with a knife inside of it 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           0.25           0.901          -0.75          0              270            0
   1  Pan             2.076          1.518          -0.460         0              180            0              73
   2  Potato          2.179          1.559          -0.097         0              270            0              73
   3  Potato          0.034          0.977          2.451          0              0              0              52
   4  WineBottle      1.964          0.083          2.057          0              0              0              48
   5  Ladle           0.637          0.125          2.523          0              0              0              59
   6  DishSponge      2.203          1.503          0.725          0              0              0              60
   7  DishSponge      -0.195         0.937          2.451          0              0              0              52
   8  ButterKnife     -0.349         0.791          0.545          0              0              0              79
   9  ButterKnife     -0.196         0.791          1.386          0              0              0              79
  10  Spoon           1.815          0.747          2.197          0              90             0              67
  11  Spoon           -0.349         0.792          1.049          0              0              0              79
  12  Fork            -0.042         0.791          0.545          0              0              0              79
  13  Cup             -0.119         0.789          1.217          0              0              0              79
  14  Cup             -0.119         0.789          1.049          0              0              0              79
  15  Knife           -0.033         0.771          1.925          0              90             0              51
  16  Knife           -0.272         0.816          1.217          0              90             0              79
  17  Knife           -0.196         0.816          0.377          0              180            0              79
  18  Mug             -0.362         1.030          1.907          0              90             0              77
  19  Mug             2.064          0.989          2.462          0              225            0              78
  20  Mug             1.945          1.318          -0.097         0              270            0              73
  21  Egg             2.250          0.644          -0.278         0              270            0              73
  22  Lettuce         0.277          0.989          2.611          0              60.216         0              52
  23  Fork            -0.196         0.791          1.217          0              0              0              79
  24  SoapBottle      0.033          0.791          0.881          0              0              0              79
  25  Ladle           -0.041         0.125          2.129          0              0              0              46
  26  Ladle           1.872          0.790          0.721          0              270            0              61
  27  Bread           -0.199         0.823          0.813          0              0              0              79
  28  SaltShaker      2.040          0.077          0.724          0              270            0              49
  29  Potato          2.250          0.642          -0.550         0              270            0              73
  30  Pan             2.140          0.935          1.106          0              0              0              54
  31  WineBottle      1.840          0.939          0.583          0              0              0              63
  32  Spatula         1.065          0.810          2.529          0              90             0              76
  33  Knife           -0.053         0.963          2.757          0              0              0              52
  34  Tomato          1.223          0.841          2.584          0              0              0              76
  35  Apple           2.164          0.652          -0.007         0              270            0              73
  36  ButterKnife     -0.349         0.791          0.377          0              0              0              79
  37  Pot             1.854          0.937          1.497          0              0              0              56
  38  PepperShaker    2.040          0.077          2.199          0              270            0              48
  39  Cup             2.168          1.319          -0.188         0              270            0              73
  40  DishSponge      1.919          0.745          2.060          0              0              0              67
  41  Plate           1.298          0.085          2.523          0              0              0              58
  42  Spoon           0.174          0.938          2.757          0              0              0              52
  43  Mug             0.060          0.932          2.827          0              0              0              52
  44  Bowl            1.855          1.499          2.767          0              0              0              45
  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 right and move across the room towards the sink | STEP 2: pick up the knife with the yellow handle that is to the left of the sink and behind the head of lettuce | STEP 3: put the knife in to the cup that is behind the head of lettuce | STEP 4: pick up the cup with the knife inside of the cup | STEP 5: turn  around and move forward to the white table on the right, turn to face the table | STEP 6: put the cup with the knife inside of it onto the table in front of the wine glass on the left | END