Task: Put a knife in a cup 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           -1.75          0.901          2.25           0              0              0
   1  Potato          -2.037         0.954          0.264          0              0              0              57
   2  DishSponge      -2.583         0.900          1.913          0              0              0              78
   3  DishSponge      -2.789         0.900          2.573          0              0              0              78
   4  ButterKnife     -2.480         0.900          2.045          0              0              0              78
   5  ButterKnife     -2.706         0.935          3.209          0              0              0              64
   6  Spatula         -1.007         0.810          0.392          0              270            0              75
   7  Spoon           -0.228         0.901          2.530          0              0              0              80
   8  Spoon           -2.480         0.901          2.177          0              0              0              78
   9  Cup             -2.722         1.186          4.352          0              90             0              74
  10  Plate           -1.180         0.800          0.337          0              0              0              75
  11  Plate           -1.248         1.777          0.205          0              0              0              54
  12  Tomato          -2.805         0.696          4.278          0              90             0              74
  13  Tomato          -2.738         0.362          4.649          0              90             0              74
  14  Bowl            -0.194         1.770          0.114          0              0              0              56
  15  SaltShaker      -2.628         0.931          3.488          0              0              0              64
  16  SaltShaker      -2.377         0.658          0.464          0              0              0              65
  17  PepperShaker    -2.995         0.896          2.309          0              0              0              78
  18  PepperShaker    -2.485         0.658          0.245          0              0              0              65
  19  Bread           -2.480         0.957          2.573          0              0              0              78
  20  Bread           -0.486         0.957          2.530          0              0              0              80
  21  Lettuce         -2.377         0.980          2.309          0              0              0              78
  22  Lettuce         -2.785         0.378          4.427          0              90             0              74
  23  Apple           -0.350         1.074          0.235          0              0              0              76
  24  Apple           -2.847         1.242          4.352          0              90             0              74
  25  Egg             -0.191         1.051          0.235          0              0              0              76
  26  Plate           -1.801         1.777          0.205          0              0              0              52
  27  Fork            -0.380         0.662          0.519          0              270            0              46
  28  Bread           -2.789         0.957          2.309          0              0              0              78
  29  Apple           -2.706         0.991          3.395          0              90             0              64
  30  Lettuce         -2.864         1.015          3.302          0              180            0              64
  31  Spatula         -2.583         0.915          2.706          0              0              0              78
  32  Knife           -0.314         0.926          2.530          0              0              0              80
  33  Potato          -2.686         0.926          2.573          0              0              0              78
  34  Tomato          -2.847         0.696          4.575          0              90             0              74
  35  Cup             -0.747         1.773          0.251          0              0              0              55
  36  SaltShaker      -2.269         0.658          0.300          0              0              0              65
  37  PepperShaker    -0.228         0.896          2.731          0              0              0              80
  38  ButterKnife     -2.037         0.928          0.348          0              180            0              57
  39  SoapBottle      -0.657         0.900          3.133          0              0              0              80
  40  Pan             -0.250         0.926          4.651          0              0              0              59
  41  DishSponge      -0.218         0.661          0.300          0              0              0              46
  42  Pot             -0.535         0.928          4.274          0              0              0              61
  43  Spoon           -0.228         0.901          3.133          0              180            0              80
  44  Mug             -2.995         0.895          2.573          0              0              0              78
  45  Bowl            -2.805         1.183          4.575          0              90             0              74
  46  Drawer          -0.325         0.696          0.413          0              0              0
  47  Cabinet         -0.595         0.490          0.648          0              0              0
  48  Cabinet         -0.555         0.490          0.646          0              0              0
  49  Cabinet         -1.591         0.490          0.646          0              0              0
  50  Cabinet         -1.554         0.490          0.646          0              0              0
  51  Cabinet         -2.550         0.490          0.646          0              0              0
  52  Cabinet         -1.514         2.046          0.392          0              0              0
  53  Cabinet         -2.474         2.046          0.392          0              0              0
  54  Cabinet         -1.478         2.046          0.392          0              0              0
  55  Cabinet         -0.518         2.046          0.392          0              0              0
  56  Cabinet         -0.479         2.046          0.392          0              0              0
  57  CounterTop      -1.366         0.952          0.349          0              0              0
  58  Sink            -1.108         0.926          0.340          0              0              0
  59  StoveBurner     -0.254         0.922          4.672          0              0              0
  60  Drawer          -1.824         0.696          0.413          0              0              0
  61  StoveBurner     -0.535         0.922          4.274          0              0              0
  62  StoveBurner     -0.254         0.922          4.274          0              0              0
  63  StoveBurner     -0.536         0.922          4.672          0              0              0
  64  CounterTop      -2.780         0.971          3.487          0              0              0
  65  Drawer          -2.323         0.696          0.413          0              0              0
  66  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  67  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  68  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  69  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  70  Toaster         -0.286         0.861          3.520          0              270            0
  71  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  72  LightSwitch     -0.064         1.447          1.996          0              270            0
  73  Window          -3.075         1.593          1.361          90             90             0
  74  Fridge          -2.802         0.0            4.427          0              0              0
  75  SinkBasin       -1.106         0.785          0.337          0              0              0
  76  Microwave       -0.358         0.917          0.224          0              0              0
  77  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  78  DiningTable     -2.733         -0.003         2.607          0              270            0
  79  Faucet          -1.077         0.920          0.028          270            270            0
  80  DiningTable     -0.488         -0.003         3.182          0              270            0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Move to the counter in front of the microwave | STEP 2: Open the cabinet above the microwave and to the left and pick up the bowl and close the door | STEP 3: Move to the end of the counter to the right | STEP 4: Place the bowl on the counter | STEP 5: Pick up a knife from the counter | STEP 6: Place the knife in the cup | END