Task: Place a cup with a knife in it on the black shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -2.25          0              0              0
   1  DishSponge      -2.560         0.894          -0.204         0              270            0              80
   2  DishSponge      -3.766         0.759          -2.877         0              334.125        0              79
   3  ButterKnife     -3.565         0.894          -0.376         0              270            0              80
   4  Pot             -0.222         0.961          -1.845         0              180            0              45
   5  Fork            -3.565         0.895          -0.204         0              270            0              80
   6  Spatula         -4.122         0.706          -0.491         0              180            0              78
   7  Spatula         -0.078         0.956          -1.362         0              0              0              61
   8  Egg             -0.078         0.982          -1.406         0              0              0              61
   9  Egg             -0.377         0.983          -2.996         0              45             0              43
  10  Cup             -0.167         1.580          -1.884         0              270            0              75
  11  Plate           -3.453         0.774          -3.309         0              244.125        0              79
  12  Plate           -0.359         1.502          -0.529         0              270            0              73
  13  Knife           -4.059         0.785          -3.168         0              109.125        0              79
  14  SoapBottle      -0.394         0.939          -1.450         0              0              0              61
  15  Bowl            -0.136         1.936          -0.949         0              0              0              51
  16  Bowl            -0.334         1.284          -0.529         0              270            0              73
  17  Lettuce         -3.642         0.851          -2.989         0              334.125        0              79
  18  SaltShaker      -4.002         0.686          -0.126         0              0              0              78
  19  PepperShaker    -4.122         0.687          -0.248         0              0              0              78
  20  Apple           -0.168         1.003          -2.906         0              0              0              43
  21  Apple           -4.242         0.751          -0.430         0              0              0              78
  22  SoapBottle      -4.122         0.688          -0.430         0              0              0              78
  23  Pot             -1.471         0.943          -3.673         0              0              0              43
  24  Fork            -0.315         0.941          -1.538         0              180            0              61
  25  Cup             -3.364         0.895          -0.376         0              270            0              80
  26  Tomato          -3.364         0.945          -0.548         0              270            0              80
  27  Pan             -0.217         0.958          -2.215         0              45             0              62
  28  Plate           -4.091         0.774          -3.410         0              244.125        0              79
  29  Bread           -2.761         0.976          -0.548         0              270            0              80
  30  Spatula         -2.359         0.909          -0.119         0              270            0              80
  31  Knife           -0.543         0.776          -2.685         0              270            0              48
  32  SaltShaker      -4.122         0.687          -0.126         0              0              0              78
  33  PepperShaker    -0.136         1.934          -1.215         0              0              0              51
  34  ButterKnife     -0.547         0.813          -3.318         0              315            0              72
  35  Apple           -2.485         0.161          -3.505         0              0              0              68
  36  DishSponge      -0.968         0.941          -3.759         0              45             0              43
  37  Potato          -3.676         0.792          -3.348         0              334.125        0              79
  38  Egg             -4.242         0.731          -0.248         0              0              0              78
  39  Spoon           -3.163         0.895          -0.204         0              270            0              80
  40  Lettuce         -0.473         1.033          -2.729         0              0              0              43
  41  Mug             -2.514         0.972          -3.649         0              0              0              69
  42  Bowl            -0.126         1.937          -1.897         0              0              0              52
  43  CounterTop      -1.937         0.977          -3.673         0              0              0
  44  StoveBurner     -0.437         0.924          -1.845         0              180            0
  45  StoveBurner     -0.222         0.924          -1.845         0              180            0
  46  StoveBurner     -0.437         0.924          -2.243         0              0              0
  47  Drawer          -0.500         0.779          -1.450         0              0              0
  48  Drawer          -0.481         0.777          -2.739         0              0              0
  49  Drawer          -1.154         0.782          -3.499         0              0              0
  50  Cabinet         -0.337         2.110          -0.390         0              0              0
  51  Cabinet         -0.337         2.110          -1.272         0              0              0
  52  Cabinet         -0.337         2.110          -1.631         0              0              0
  53  Cabinet         -0.337         2.110          -2.497         0              0              0
  54  Cabinet         -0.337         1.891          -1.286         0              0              0
  55  Cabinet         -0.346         1.891          -3.293         0              0              0
  56  Cabinet         -0.629         0.388          -2.513         0              0              0
  57  Cabinet         -0.633         0.388          -3.008         0              0              0
  58  Cabinet         -1.010         0.388          -3.368         0              0              0
  59  Cabinet         -0.629         0.388          -1.614         0              0              0
  60  Cabinet         -0.327         1.886          -2.513         0              0              0
  61  CounterTop      -0.326         0.976          -1.450         0              0              0
  62  StoveBurner     -0.222         0.924          -2.243         0              0              0
  63  Sink            -0.600         0.929          -3.388         0              0              0
  64  StoveKnob       -0.617         0.899          -1.833         315            90             180
  65  StoveKnob       -0.617         0.899          -2.129         315            90             180
  66  StoveKnob       -0.617         0.899          -2.289         315            90             180
  67  StoveKnob       -0.617         0.899          -1.975         315            90             180
  68  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  69  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  70  Window          -1.389         1.610          -4.113         90             0              0
  71  LightSwitch     -4.372         1.493          -1.031         0              90             0
  72  SinkBasin       -0.614         0.802          -3.384         0              315            0
  73  Fridge          -0.314         0.0            -0.646         0              0              0
  74  Toaster         -1.970         0.930          -3.763         0              0              0
  75  Microwave       -0.216         1.470          -2.054         0              270            0
  76  Blinds          -1.373         2.205          -3.961         0              0              0
  77  Faucet          -0.393         0.930          -3.614         270            225            0
  78  SideTable       -4.030         0.002          -0.301         0              185.034        0
  79  DiningTable     -3.586         0.000          -3.258         0              0              0
  80  DiningTable     -3.224         -0.003         -0.453         0              0              0
  81  Shelf           -4.030         0.259          -0.301         0              185.034        0
  82  Shelf           -4.030         0.489          -0.301         0              185.034        0
  83  EastWall
  84  EastWall
  85  SouthWall

Plan:
STEP 1: Turn left, walk forward, turn right and walk toward the white table. | STEP 2: Pick up the knife from the table to the left of the tomato. | STEP 3: Turn right, walk forward, then turn left to face the middle of the white table. | STEP 4: Place the knife in the cup. | STEP 5: Pick up the cup with the knife in it. | STEP 6: Turn left, walk towards the wall, turn left again, step forward, then turn all the way around to face the black shelf. | STEP 7: Place the cup with the knife in it on the top of the black shelf behind the spatula. | END