Task: To put a knife in a cup and move the cup to the shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.869          -2.5           0              90             0
   1  Potato          -1.535         0.729          -3.614         0              0              0              76
   2  Potato          0.799          0.805          -0.845         0              270            0              72
   3  DishSponge      0.841          0.664          0.508          0              0              0              54
   4  DishSponge      -0.453         0.900          0.758          0              270            0              75
   5  ButterKnife     0.950          0.883          0.098          0              0              0              49
   6  ButterKnife     0.841          0.664          0.326          0              0              0              54
   7  Spatula         -1.620         0.715          -3.529         0              90             0              76
   8  Spatula         0.841          0.787          -0.515         0              0              0              72
   9  Spoon           0.769          0.761          -0.188         0              180            0              48
  10  Spoon           0.671          0.761          -0.252         0              0              0              48
  11  Fork            0.721          0.665          0.569          0              0              0              54
  12  Pot             -2.097         0.930          0.785          0              0              0              51
  13  Egg             0.950          0.920          -0.245         0              0              0              49
  14  Egg             0.630          0.809          -0.625         0              270            0              72
  15  Cup             0.149          0.899          0.929          0              270            0              75
  16  Cup             0.757          0.771          -0.735         0              270            0              72
  17  Knife           0.866          0.782          0.002          0              270            0              48
  18  SoapBottle      0.676          0.014          -0.250         0              0              0              59
  19  PepperShaker    -1.886         0.698          -1.199         0              0              0              85
  20  SaltShaker      0.901          0.660          0.630          0              0              0              54
  21  SaltShaker      0.858          1.460          -0.207         0              0              0              60
  22  Lettuce         0.746          1.461          -1.880         0              270            0              69
  23  Mug             0.903          1.458          0.288          0              0              0              61
  24  Mug             -2.054         0.794          -3.673         0              0              0              71
  25  Mug             0.877          0.878          -0.108         0              180            0              49
  26  Apple           -1.297         0.105          -3.537         0              270            0              64
  27  Pot             -1.555         0.930          1.049          0              0              0              58
  28  Plate           -2.023         0.692          -1.447         0              0              0              85
  29  Fork            0.799          0.773          -0.570         0              0              0              72
  30  SoapBottle      0.842          0.014          -0.184         0              0              0              59
  31  Apple           0.669          0.718          -2.035         0              270            0              69
  32  Pan             0.746          0.464          -2.035         0              180            0              69
  33  Egg             -1.620         0.733          -3.276         0              0              0              76
  34  Spatula         0.574          0.774          0.002          0              270            0              48
  35  Potato          0.841          0.698          0.265          0              0              0              54
  36  Cup             0.824          0.663          -2.035         0              270            0              69
  37  SaltShaker      0.601          0.660          0.569          0              0              0              54
  38  PepperShaker    0.732          0.012          -0.637         0              0              0              52
  39  ButterKnife     0.729          0.883          0.098          0              0              0              49
  40  DishSponge      -0.252         0.900          0.843          0              270            0              75
  41  Bread           -0.873         0.931          0.978          0              24.231         0              75
  42  Lettuce         0.721          0.751          0.387          0              0              0              54
  43  Tomato          0.746          0.713          -1.880         0              270            0              69
  44  Spoon           0.149          0.901          1.187          0              270            0              75
  45  Knife           -1.886         0.724          -0.983         0              0              0              85
  46  Mug             0.698          0.941          -1.360         0              270            0              62
  47  Bowl            -2.038         0.691          -1.003         0              0              0              85
  48  Drawer          0.706          0.766          -0.125         0              0              0
  49  CounterTop      0.792          0.919          -0.108         0              0              0
  50  Mirror          1.093          1.602          -0.643         0              0              0
  51  StoveBurner     -2.096         0.890          0.785          0              0              0
  52  Cabinet         0.507          0.345          -0.426         0              0              0
  53  StoveBurner     -1.552         0.890          0.785          0              0              0
  54  SideTable       0.770          -0.030         0.443          0              0              0
  55  Sink            0.753          0.882          -0.680         0              0              0
  56  StoveBurner     -2.096         0.890          1.049          0              0              0
  57  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  58  StoveBurner     -1.554         0.890          1.049          0              0              0
  59  Cabinet         0.507          0.345          0.156          0              0              0
  60  Cabinet         0.717          1.822          -0.398         0              0              0
  61  Cabinet         0.717          1.822          0.669          0              0              0
  62  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  63  Toaster         -0.522         0.886          1.081          0              180            0
  64  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  65  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  66  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  67  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  68  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  69  Fridge          0.680          -0.031         -1.957         0              0              0
  70  Window          -2.424         1.639          -2.453         90             270            0
  71  Microwave       -1.994         0.690          -3.651         0              0              0
  72  SinkBasin       0.757          0.762          -0.688         0              270            0
  73  LightSwitch     1.102          1.368          -3.737         0              270            0
  74  Shelf           -0.350         0.124          0.857          0              0              0
  75  DiningTable     -0.350         -0.025         0.857          0              0              0
  76  DiningTable     -1.909         -0.032         -3.507         0              0              0
  77  Blinds          -2.343         2.151          -2.437         0              270            0
  78  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  79  AluminumFoil    0.751          0.225          0.287          0              0              0
  80  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  81  Shelf           0.771          0.226          0.445          0              0              0
  82  Shelf           0.771          0.456          0.446          0              0              0
  83  Faucet          1.025          0.873          -0.678         270            180            0
  84  Shelf           -0.350         0.497          0.857          0              0              0
  85  DiningTable     -1.929         -0.035         -1.398         0              90             0
  86  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn left, turn right to face the counter to the left of the sink.  | STEP 2: Pick up the butter knife from the counter to the left of the cup.  | STEP 3: Put the knife in the cup on the counter.  | STEP 4: Pick up the cup from the counter.  | STEP 5: Walk to the black shelf to the left of the counter.  | STEP 6: Put the cup down on the shelf to the right of the head of lettuce.  | END