Task: Put the glass with knife on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          2.0            0              0              0
   1  DishSponge      2.127          1.503          0.388          0              0              0              45
   2  DishSponge      2.281          1.948          1.002          0              0              0              57
   3  ButterKnife     -0.119         0.791          1.217          0              0              0              74
   4  ButterKnife     1.920          0.937          1.964          0              90             0              47
   5  Pot             2.056          1.321          -0.460         0              180            0              68
   6  Spoon           1.919          0.746          1.922          0              0              0              62
   7  Fork            -0.272         0.791          1.386          0              0              0              74
   8  Egg             1.986          0.380          -0.369         0              270            0              68
   9  Egg             -0.395         1.078          2.014          0              90             0              72
  10  Plate           0.708          0.085          2.523          0              0              0              54
  11  Plate           2.059          0.342          -0.188         0              270            0              68
  12  SoapBottle      1.673          0.938          2.511          0              0              0              47
  13  Tomato          -0.425         0.837          1.217          0              0              0              74
  14  Tomato          -0.042         0.837          1.217          0              0              0              74
  15  PepperShaker    2.167          1.496          2.010          0              0              0              50
  16  Egg             -0.272         0.980          2.478          0              0              0              47
  17  Lettuce         -0.282         0.999          2.757          0              0              0              47
  18  Fork            -0.349         0.782          0.881          0              0              0              74
  19  SoapBottle      1.964          0.082          1.915          0              0              0              43
  20  Ladle           -0.041         0.982          2.399          0              0              0              47
  21  Ladle           -0.041         0.125          1.925          0              0              0              41
  22  Bread           -0.186         0.824          0.810          0              3.656          0              74
  23  SaltShaker      -0.078         0.076          2.265          0              0              0              41
  24  Potato          -0.395         1.075          2.121          0              90             0              72
  25  Pan             2.140          0.935          1.504          0              180            0              42
  26  WineBottle      -0.349         0.791          1.049          0              0              0              74
  27  Spatula         1.223          0.810          2.584          0              90             0              71
  28  Knife           -0.272         0.816          1.217          0              270            0              74
  29  Tomato          -0.042         0.837          0.545          0              0              0              74
  30  Apple           1.170          0.845          2.584          0              180            0              71
  31  ButterKnife     -0.349         0.782          0.713          0              0              0              74
  32  Pot             1.854          0.937          1.497          0              0              0              51
  33  PepperShaker    1.846          0.077          0.372          0              0              0              44
  34  Cup             0.033          0.789          0.377          0              0              0              74
  35  DishSponge      2.243          1.948          1.145          0              0              0              57
  36  Plate           -0.312         0.781          0.409          0              0              0              74
  37  Spoon           0.735          0.803          2.695          0              0              0              71
  38  Mug             0.033          0.785          1.049          0              0              0              74
  39  Bowl            1.962          0.079          0.653          0              0              0              44
  40  Cabinet         2.041          2.113          2.618          0              0              0
  41  Cabinet         0.126          0.388          1.774          0              0              0
  42  StoveBurner     2.140          0.929          1.504          0              180            0
  43  Cabinet         1.760          0.388          2.346          0              0              0
  44  Cabinet         1.760          0.388          0.869          0              0              0
  45  Cabinet         2.041          1.810          0.283          0              0              0
  46  Drawer          -0.024         0.774          2.061          0              0              0
  47  CounterTop      1.065          0.973          2.666          0              0              0
  48  Cabinet         1.969          2.113          2.618          0              0              0
  49  StoveBurner     2.140          0.929          1.106          0              0              0
  50  Cabinet         2.041          2.113          1.809          0              0              0
  51  StoveBurner     1.866          0.929          1.504          0              180            0
  52  Cabinet         2.041          2.113          1.766          0              0              0
  53  Cabinet         1.514          0.388          2.360          0              0              0
  54  Cabinet         0.351          0.388          2.360          0              0              0
  55  Cabinet         2.041          1.810          0.872          0              0              0
  56  Drawer          2.167          0.774          0.582          0              0              0
  57  Cabinet         2.041          2.113          0.892          0              0              0
  58  CounterTop      2.060          0.973          0.583          0              0              0
  59  Sink            0.935          0.936          2.646          0              0              0
  60  Curtains        0.964          2.061          2.989          0              0              0
  61  StoveBurner     1.863          0.929          1.106          0              0              0
  62  Drawer          1.911          0.774          2.060          0              0              0
  63  StoveKnob       2.326          1.092          1.610          288.013        90             0
  64  StoveKnob       2.326          1.092          1.460          288.013        90             0
  65  StoveKnob       2.326          1.092          1.210          288.013        90             0
  66  StoveKnob       2.326          1.092          1.050          288.013        90             0
  67  Toaster         2.126          0.926          0.572          0              270            0
  68  Fridge          2.104          0.0            -0.279         0              270            0
  69  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  70  LightSwitch     0.354          1.518          -1.031         0              0              0
  71  SinkBasin       0.903          0.784          2.640          0              0              0
  72  Microwave       -0.310         0.926          2.077          0              90             0
  73  CoffeeMachine   2.084          0.927          2.667          0              225            0
  74  DiningTable     -0.153         -0.000         1.073          0              270            0
  75  Faucet          1.175          0.926          2.950          270            90             0
  76  Faucet          0.686          0.926          2.950          270            90             0
  77  Chair           -0.077         0.002          0.196          0              15.000         0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn right and face the counter on the left side of the stove | STEP 2: Pick up the knife on the counter | STEP 3: Turn right then head to the table | STEP 4: Put the knife in the glass at the table | STEP 5: Pick up the glass with knife  | STEP 6: Turn around to your left then face the counter with toaster | STEP 7: Put the glass with knife on the edge of the counter | END