Task: Put a knife in a cup on a countertop

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          1.5            0              270            0
   1  SprayBottle     0.664          0.910          -1.704         0              0              0              69
   2  Ladle           1.401          1.700          -0.500         0              0              0              57
   3  Kettle          -1.039         1.851          -1.839         0              0              0              49
   4  DishSponge      -0.372         0.774          -1.500         0              0              0              68
   5  DishSponge      1.296          1.161          -1.345         0              0              0              75
   6  Fork            0.982          0.775          -1.013         0              270            0              47
   7  Fork            -1.962         0.911          -1.448         0              0              0              67
   8  Spoon           -1.877         0.774          -1.500         0              270            0              74
   9  Spatula         -1.809         0.925          -1.793         0              0              0              67
  10  Spatula         0.285          0.934          -1.657         0              270            0              48
  11  Pot             -1.081         0.949          -1.81          0              0              0              65
  12  Egg             1.262          0.243          1.022          0              0              0              86
  13  Egg             -2.193         0.939          -1.965         0              0              0              67
  14  Tomato          -1.712         0.950          0.032          0              0              0              71
  15  Tomato          -1.732         0.950          -1.965         0              0              0              67
  16  SaltShaker      -0.652         0.106          -1.681         0              0              0              56
  17  Bread           -2.079         0.988          0.291          0              0              0              71
  18  Mug             1.441          1.260          0.188          0              270            0              91
  19  Mug             1.375          1.157          -1.002         0              0              0              75
  20  Tomato          1.323          1.760          1.838          0              270            0              88
  21  Glassbottle     1.275          1.368          2.101          0              270            0              88
  22  Knife           -1.957         0.940          0.377          0              0              0              71
  23  Plate           1.176          0.911          -1.331         0              0              0              69
  24  Fork            -1.712         0.911          0.377          0              0              0              71
  25  Ladle           -2.201         0.954          0.118          0              0              0              71
  26  Potato          0.217          0.961          -1.607         0              270            0              48
  27  Lettuce         1.325          1.436          2.226          0              270            0              88
  28  Kettle          -0.458         1.656          -1.839         0              0              0              51
  29  Pen             -1.886         0.913          -1.879         0              0              0              74
  30  SaltShaker      1.401          1.651          -1.185         0              0              0              61
  31  Cup             0.149          0.920          -1.808         0              270            0              48
  32  Egg             -0.040         0.805          -1.634         0              270            0              90
  33  Spatula         -2.445         0.925          0.204          0              90             0              71
  34  Bowl            0.528          0.117          -1.585         0              90             0              63
  35  SprayBottle     0.569          0.910          -1.789         0              0              0              69
  36  Pan             -1.431         0.949          -1.525         0              0              0              77
  37  SoapBottle      0.914          0.114          -0.699         0              90             0              53
  38  Pot             -1.431         0.949          -1.81          0              0              0              79
  39  ButterKnife     1.010          0.911          0.031          0              0              0              69
  40  PepperShaker    -1.835         0.905          0.118          0              0              0              71
  41  DishSponge      -2.201         0.910          0.549          0              0              0              71
  42  Bread           -2.323         0.988          0.291          0              0              0              71
  43  Apple           -1.732         0.945          -1.707         0              0              0              67
  44  Spoon           -1.821         0.774          -1.500         0              270            0              74
  45  Mug             -1.835         0.905          0.291          0              0              0              71
  46  Drawer          0.860          0.75           0.430          0              0              0
  47  Drawer          0.871          0.75           -1.134         0              0              0
  48  Sink            0.156          0.817          -1.801         0              270            0
  49  Cabinet         -0.868         2.005          -1.690         0              0              0
  50  Cabinet         -1.661         2.059          -1.684         0              90             0
  51  Cabinet         -0.817         2.059          -1.689         0              0              0
  52  Cabinet         0.860          0.402          0.665          0              0              0
  53  Cabinet         0.860          0.402          -0.552         0              0              0
  54  Cabinet         0.860          0.402          -1.365         0              0              0
  55  Cabinet         -0.244         0.402          -1.389         0              0              0
  56  Cabinet         -0.815         0.402          -1.389         0              0              0
  57  Cabinet         1.159          2.059          -0.334         0              0              0
  58  Cabinet         0.488          2.059          -1.689         0              0              0
  59  Cabinet         -0.193         2.059          -1.689         0              0              0
  60  Drawer          0.860          0.75           -0.699         0              0              0
  61  Cabinet         1.159          2.059          -1.019         0              0              0
  62  Cabinet         -1.611         2.005          -1.690         0              0              0
  63  Cabinet         0.832          0.401          -1.393         0              90             0
  64  Drawer          -2.105         0.75           -1.389         0              0              0
  65  StoveBurner     -1.081         0.941          -1.809         0              0              0
  66  Cabinet         -0.202         0.401          -1.391         0              90             0
  67  CounterTop      -1.973         0.945          -1.707         0              0              0
  68  Drawer          -0.375         0.75           -1.389         0              0              0
  69  CounterTop      1.164          0.946          -0.649         0              0              0
  70  StoveBurner     -1.081         0.941          -1.527         0              0              0
  71  CounterTop      -2.096         0.945          0.291          0              0              0
  72  Cabinet         -2.237         0.402          -1.389         0              0              0
  73  Drawer          0.584          0.75           -1.389         0              0              0
  74  Drawer          -1.795         0.75           -1.389         0              0              0
  75  CounterTop      1.5            1.197          -0.654         0              0              0
  76  Cabinet         -1.667         0.402          -1.389         0              0              0
  77  StoveBurner     -1.430         0.941          -1.525         0              0              0
  78  Drawer          -0.685         0.75           -1.389         0              0              0
  79  StoveBurner     -1.430         0.941          -1.809         0              0              0
  80  LightSwitch     -2.539         1.289          2.568          0              90             0
  81  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  82  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  83  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  84  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  85  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  86  GarbageCan      1.343          0.015          1.041          0              0              0
  87  HousePlant      1.440          1.153          0.593          0              0              0
  88  Fridge          1.417          0.0            2.101          0              0              0
  89  Window          -0.486         1.452          3.302          90             0              0
  90  SinkBasin       -0.063         0.765          -1.713         0              270            0
  91  Microwave       1.422          1.150          0.022          0              270            0
  92  Toaster         -2.066         0.900          -1.848         0              0              0
  93  Stool           -1.994         0.010          0.882          0              0              0
  94  Faucet          -0.096         1.041          -1.867         0              270            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Go to the sink | STEP 2: Pick up a glass | STEP 3: Go to the counter on the left | STEP 4: Put the glass down  | STEP 5: Go to the counter above the dishwasher | STEP 6: Pick up the knife | STEP 7: Go to the cup that was placed on the counter | STEP 8: Put the knife in the cup | END