Task: Find a coffee cup, put a knife inside, place on counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.914          3.0            0              270            0
   1  Potato          -0.994         0.923          0.358          0              90             0              78
   2  DishSponge      -2.511         0.080          3.625          0              0              0              53
   3  ButterKnife     -1.729         0.789          3.7            0              0              0              72
   4  ButterKnife     -1.391         0.891          0.461          0              90             0              78
   5  WineBottle      -1.391         0.892          0.255          0              90             0              78
   6  Kettle          -3.424         0.966          2.374          0              0              0              48
   7  Kettle          -1.919         0.916          4.188          0              0              0              42
   8  Spoon           -2.302         0.916          3.567          0              0              0              42
   9  Fork            -1.655         0.892          0.255          0              180            0              78
  10  Cup             -1.523         0.891          0.049          0              90             0              78
  11  Knife           -2.402         0.939          3.890          0              0              0              42
  12  Tomato          -1.666         0.858          3.662          0              0              0              72
  13  Bowl            -1.608         0.914          4.188          0              0              0              42
  14  Bowl            -1.655         0.890          0.358          0              90             0              78
  15  SaltShaker      -3.442         1.455          1.454          0              0              0              60
  16  PepperShaker    -2.840         0.076          3.586          0              0              0              54
  17  Bread           -1.127         0.972          -0.053         0              90             0              78
  18  Apple           -1.793         0.849          3.625          0              0              0              72
  19  Egg             -1.391         0.926          -0.053         0              90             0              78
  20  Knife           -1.127         0.915          0.461          0              180            0              78
  21  Fork            -1.921         0.790          3.737          0              270            0              72
  22  Bread           -1.127         0.972          0.564          0              90             0              78
  23  Potato          -0.790         1.018          3.988          0              180            0              68
  24  Plate           -3.005         0.904          3.677          0              0              0              42
  25  Pot             -3.144         0.963          2.374          0              0              0              45
  26  Kettle          -3.424         0.966          1.971          0              0              0              50
  27  WineBottle      -1.161         0.088          3.852          0              270            0              74
  28  Bowl            -3.473         1.545          2.224          0              90             0              73
  29  Tomato          -1.259         0.960          0.152          0              90             0              78
  30  Cup             -3.231         0.083          1.434          0              0              0              61
  31  Spatula         -3.156         0.762          3.027          0              270            0              44
  32  SoapBottle      -3.073         0.083          1.434          0              0              0              61
  33  Lettuce         -0.323         1.072          4.051          0              180            0              68
  34  Pan             -2.614         0.902          3.620          0              0              0              42
  35  Apple           -3.473         1.606          2.068          0              90             0              73
  36  SaltShaker      -2.511         0.077          3.508          0              0              0              53
  37  PepperShaker    -1.707         0.077          3.664          0              0              0              47
  38  ButterKnife     -1.840         0.779          3.674          0              0              0              72
  39  DishSponge      -1.127         0.891          0.358          0              90             0              78
  40  Spoon           -1.127         0.892          0.049          0              90             0              78
  41  Mug             -3.079         0.076          2.976          0              0              0              55
  42  CounterTop      -3.381         0.950          3.335          0              0              0
  43  Drawer          -3.121         0.775          1.357          0              0              0
  44  Drawer          -3.121         0.777          2.916          0              0              0
  45  StoveBurner     -3.148         0.958          2.374          0              0              0
  46  Sink            -1.797         0.917          3.660          0              0              0
  47  Cabinet         -1.421         0.388          3.459          0              0              0
  48  StoveBurner     -3.424         0.958          2.374          0              0              0
  49  Cabinet         -3.365         1.931          2.676          0              0              0
  50  StoveBurner     -3.424         0.958          1.971          0              0              0
  51  CounterTop      -3.381         0.951          1.356          0              0              0
  52  Drawer          -3.121         0.781          3.295          0              0              0
  53  Cabinet         -2.205         0.388          3.459          0              0              0
  54  Cabinet         -2.963         0.388          3.459          0              0              0
  55  Cabinet         -2.992         0.388          2.683          0              0              0
  56  Cabinet         -3.352         2.205          1.715          0              0              0
  57  Cabinet         -3.352         2.205          2.653          0              0              0
  58  Cabinet         -2.189         0.388          3.466          0              0              0
  59  Cabinet         -3.365         1.931          3.963          0              0              0
  60  Cabinet         -3.365         1.931          1.056          0              0              0
  61  Cabinet         -2.992         0.388          1.037          0              0              0
  62  StoveBurner     -3.143         0.958          1.971          0              0              0
  63  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  64  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  65  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  67  Toaster         -2.654         0.902          4.064          0              180            0
  68  Fridge          -0.439         0.014          3.996          0              0              0
  69  LightSwitch     0.25           1.383          2.085          0              270            0
  70  Window          -1.430         1.338          -0.347         90             0              0
  71  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  72  SinkBasin       -1.802         0.778          3.700          0              0              0
  73  Microwave       -3.484         1.430          2.182          0              90             0
  74  GarbageCan      -1.184         -0.020         3.794          0              270            0
  75  Blinds          -1.404         2.092          -0.296         0              0              0
  76  Stool           -1.373         0.014          1.048          1.214          20.754         0
  77  Faucet          -1.788         0.903          3.931          270            90             0
  78  DiningTable     -1.399         0.010          0.238          0              0              0
  79  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn around and walk to the door, then turn right, go to the corner and turn right to face the table. | STEP 2: Pick up the knife located to the left of the bread. | STEP 3: Turn right, walk to the fridge, turn left and go to the kitchen counter. | STEP 4: Open the bottom door and stand the knife upright inside the cup. | STEP 5: Pick up the cup with the knife inside and close the cabinet door. | STEP 6: Turn around, then walk to the counter space to the left of the stove. | STEP 7: Place the cup on the counter. | END