Task: put a glass and knife onto a kitchen shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          2.75           0              270            0
   1  Pan             -1.431         0.949          -1.525         0              0              0              81
   2  Pan             0.589          0.116          -1.633         0              90             0              67
   3  Pen             0.585          0.776          -1.533         0              0              0              73
   4  ButterKnife     -1.809         0.910          -1.534         0              0              0              71
   5  Spoon           -1.835         0.911          0.549          0              0              0              75
   6  Spatula         1.426          0.926          -0.990         0              0              0              73
   7  Spatula         1.533          1.177          -1.345         0              90             0              79
   8  Egg             -0.086         0.805          -1.634         0              270            0              94
   9  Egg             1.454          1.191          -1.345         0              0              0              79
  10  Cup             1.441          1.259          0.083          0              270            0              95
  11  Cup             1.207          0.115          -0.736         0              0              0              57
  12  Plate           1.401          1.656          -1.342         0              0              0              65
  13  Knife           -1.886         0.940          -1.793         0              0              0              71
  14  Knife           0.949          0.804          -1.178         0              90             0              51
  15  Tomato          1.388          1.760          2.026          0              270            0              92
  16  Bowl            1.035          0.115          -1.071         0              0              0              58
  17  Bowl            -1.796         0.117          -1.586         0              0              0              80
  18  SaltShaker      1.031          0.109          -0.736         0              0              0              57
  19  SaltShaker      0.918          0.112          0.372          0              0              0              56
  20  Lettuce         -2.201         0.979          0.463          0              0              0              75
  21  Mug             -2.323         0.905          0.204          0              0              0              75
  22  Mug             1.473          1.260          -0.021         0              270            0              95
  23  Apple           1.381          0.249          1.137          0              0              0              90
  24  Tomato          1.335          1.202          -1.688         0              0              0              79
  25  Glassbottle     1.459          0.215          1.022          0              0              0              90
  26  Knife           -2.193         0.940          -1.879         0              90             0              71
  27  Plate           -1.957         0.911          0.291          0              0              0              75
  28  Fork            -2.116         0.911          -1.534         0              90             0              71
  29  Ladle           -2.039         0.954          -1.448         0              0              0              71
  30  Potato          -0.778         0.953          -1.534         0              0              0              73
  31  Lettuce         -0.703         0.980          -1.789         0              0              0              73
  32  Kettle          -1.431         0.949          -1.81          0              0              0              83
  33  Pen             1.176          0.913          -0.990         0              0              0              73
  34  SaltShaker      -1.712         0.905          0.549          0              0              0              75
  35  Cup             1.461          1.656          -0.894         0              0              0              61
  36  Egg             1.414          1.191          0.370          0              0              0              79
  37  Spatula         -2.323         0.925          0.377          0              90             0              75
  38  Bowl            1.375          1.368          1.851          0              270            0              92
  39  SprayBottle     1.093          0.114          -1.301         0              0              0              58
  40  Pan             -1.081         0.949          -1.81          0              0              0              69
  41  SoapBottle      1.414          1.162          -1.002         0              0              0              79
  42  Pot             0.967          0.9            0.249          0              0              0              73
  43  ButterKnife     1.343          0.911          -0.309         0              0              0              73
  44  PepperShaker    1.208          0.112          0.255          0              0              0              56
  45  DishSponge      1.296          1.161          0.370          0              0              0              79
  46  Bread           1.375          1.240          -0.659         0              0              0              79
  47  Apple           0.217          0.954          -1.708         0              270            0              52
  48  Spoon           0.149          0.920          -1.657         0              90             0              52
  49  Mug             0.183          0.914          -1.808         0              270            0              52
  50  Drawer          0.860          0.75           0.430          0              0              0
  51  Drawer          0.871          0.75           -1.134         0              0              0
  52  Sink            0.156          0.817          -1.801         0              270            0
  53  Cabinet         -0.868         2.005          -1.690         0              0              0
  54  Cabinet         -1.661         2.059          -1.684         0              90             0
  55  Cabinet         -0.817         2.059          -1.689         0              0              0
  56  Cabinet         0.860          0.402          0.665          0              0              0
  57  Cabinet         0.860          0.402          -0.552         0              0              0
  58  Cabinet         0.860          0.402          -1.365         0              0              0
  59  Cabinet         -0.244         0.402          -1.389         0              0              0
  60  Cabinet         -0.815         0.402          -1.389         0              0              0
  61  Cabinet         1.159          2.059          -0.334         0              0              0
  62  Cabinet         0.488          2.059          -1.689         0              0              0
  63  Cabinet         -0.193         2.059          -1.689         0              0              0
  64  Drawer          0.860          0.75           -0.699         0              0              0
  65  Cabinet         1.159          2.059          -1.019         0              0              0
  66  Cabinet         -1.611         2.005          -1.690         0              0              0
  67  Cabinet         0.832          0.401          -1.393         0              90             0
  68  Drawer          -2.105         0.75           -1.389         0              0              0
  69  StoveBurner     -1.081         0.941          -1.809         0              0              0
  70  Cabinet         -0.202         0.401          -1.391         0              90             0
  71  CounterTop      -1.973         0.945          -1.707         0              0              0
  72  Drawer          -0.375         0.75           -1.389         0              0              0
  73  CounterTop      1.164          0.946          -0.649         0              0              0
  74  StoveBurner     -1.081         0.941          -1.527         0              0              0
  75  CounterTop      -2.096         0.945          0.291          0              0              0
  76  Cabinet         -2.237         0.402          -1.389         0              0              0
  77  Drawer          0.584          0.75           -1.389         0              0              0
  78  Drawer          -1.795         0.75           -1.389         0              0              0
  79  CounterTop      1.5            1.197          -0.654         0              0              0
  80  Cabinet         -1.667         0.402          -1.389         0              0              0
  81  StoveBurner     -1.430         0.941          -1.525         0              0              0
  82  Drawer          -0.685         0.75           -1.389         0              0              0
  83  StoveBurner     -1.430         0.941          -1.809         0              0              0
  84  LightSwitch     -2.539         1.289          2.568          0              90             0
  85  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  86  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  87  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  88  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  89  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  90  GarbageCan      1.343          0.015          1.041          0              0              0
  91  HousePlant      1.440          1.153          0.593          0              0              0
  92  Fridge          1.417          0.0            2.101          0              0              0
  93  Window          -0.486         1.452          3.302          90             0              0
  94  SinkBasin       -0.063         0.765          -1.713         0              270            0
  95  Microwave       1.422          1.150          0.022          0              270            0
  96  Toaster         -2.066         0.900          -1.848         0              0              0
  97  Stool           -1.994         0.010          0.882          0              0              0
  98  Faucet          -0.096         1.041          -1.867         0              270            0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: walk through kitchen to face counter top under the microwave | STEP 2: pick up the butter knife from the counter top | STEP 3: move to the left to face the shelf right of the microwave with a loaf of bread and purple soap pumper | STEP 4: open the cabinet door above the shelf, put the knife into the glass inside the cabinet | STEP 5: pick up the glass, close the cabinet door | STEP 6: continue to face the same way, move gaze down to the shelf | STEP 7: put the glass on the shelf to the right of the purple soap pumper | END