Task: Place goblet with knife on counter with coffee maker

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          4.5            0              0              0
   1  Potato          -1.007         0.822          0.281          0              0              0              72
   2  Potato          -2.995         0.926          2.045          0              0              0              75
   3  ButterKnife     -2.706         0.935          3.302          0              0              0              61
   4  ButterKnife     -1.824         0.662          0.409          0              0              0              57
   5  Spatula         -2.686         0.915          2.309          0              180            0              75
   6  Spoon           -2.706         0.936          3.302          0              0              0              61
   7  Fork            -0.164         0.662          0.300          0              90             0              43
   8  Fork            -1.770         0.662          0.519          0              270            0              57
   9  Cup             -1.691         1.773          0.297          0              0              0              51
  10  Cup             -0.143         0.900          2.731          0              0              0              77
  11  Cup             -2.892         0.900          2.045          0              0              0              75
  12  Plate           -2.805         0.636          4.352          0              90             0              71
  13  Knife           -0.218         0.688          0.464          0              270            0              43
  14  Knife           -2.269         0.688          0.464          0              270            0              62
  15  SoapBottle      -0.572         0.900          3.133          0              0              0              77
  16  Bowl            -2.831         0.295          4.501          0              90             0              71
  17  SaltShaker      -2.549         0.931          3.580          0              0              0              61
  18  SaltShaker      -1.770         0.924          0.433          0              0              0              54
  19  Bread           -2.789         0.957          2.309          0              0              0              75
  20  Bread           -0.400         0.957          2.530          0              0              0              77
  21  Apple           -2.644         0.355          4.352          0              90             0              71
  22  Egg             -2.697         0.087          0.437          0              26.101         0              68
  23  Plate           -1.193         1.777          0.251          0              0              0              51
  24  Fork            -2.377         0.662          0.300          0              90             0              62
  25  Bread           -2.480         0.957          2.573          0              0              0              75
  26  Apple           -2.785         0.991          3.209          0              0              0              61
  27  Lettuce         -2.847         1.266          4.352          0              90             0              71
  28  Spatula         -0.486         0.915          2.932          0              0              0              77
  29  Knife           -0.272         0.688          0.464          0              270            0              43
  30  Potato          -2.805         1.212          4.575          0              90             0              71
  31  Tomato          -1.904         0.992          0.602          0              0              0              54
  32  Cup             -0.400         0.900          3.334          0              0              0              77
  33  SaltShaker      -2.943         0.931          3.209          0              0              0              61
  34  PepperShaker    -1.637         0.924          0.602          0              0              0              54
  35  ButterKnife     -1.266         0.795          0.337          0              0              0              72
  36  SoapBottle      -2.849         0.053          0.300          0              26.101         0              68
  37  Pan             -0.254         0.928          4.672          0              0              0              56
  38  DishSponge      -1.878         0.661          0.464          0              0              0              57
  39  Pot             -0.535         0.928          4.274          0              0              0              58
  40  Spoon           -2.686         0.901          2.045          0              0              0              75
  41  Mug             -1.180         0.790          0.392          0              90             0              72
  42  Bowl            -0.244         1.015          0.203          0              0              0              73
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: turn around, go to counter with blue coffee maker on the right | STEP 2: pick up knife under spoon on counter | STEP 3: turn around, go to table with toaster | STEP 4: place knife in orange goblet next to toaster | STEP 5: pick up goblet with knife | STEP 6: turn around, go to counter with coffee maker | STEP 7: place goblet on front, right corner of counter | END