Task: Put a knife in a goblet, move both to a counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          -0.5           0              180            0
   1  Pan             -2.59          0.9            -1.147         0              0              0              78
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              78
   3  CreditCard      0.254          0.743          -1.052         0              0              0              79
   4  CreditCard      -2.542         0.743          0.226          0              0              0              78
   5  ButterKnife     -2.853         0.911          -0.062         0              0              0              70
   6  Kettle          0.336          1.112          0.921          0              315            0              71
   7  Pot             0.842          0.912          -1.282         0              0              0              78
   8  Fork            0.133          1.112          1.737          0              315            0              71
   9  Fork            -0.239         0.901          -1.282         0              180            0              78
  10  Spatula         -1.591         0.864          -1.194         0              270            0              88
  11  Spatula         1.074          0.926          -1.282         0              270            0              78
  12  Egg             -2.699         0.071          1.571          0              0              0              89
  13  Knife           -1.073         0.874          -1.194         0              270            0              88
  14  Knife           -0.070         1.134          1.488          0              315            0              71
  15  SoapBottle      1.074          0.912          -1.115         0              0              0              78
  16  Tomato          -2.680         0.427          0.690          0              90             0              90
  17  Tomato          -2.860         1.722          0.851          0              90             0              90
  18  Bowl            1.067          1.110          0.960          0              315            0              71
  19  PepperShaker    -2.886         1.661          -1.087         0              0              0              62
  20  PepperShaker    -0.556         0.907          -1.449         0              0              0              78
  21  SaltShaker      0.591          1.658          -1.397         0              0              0              57
  22  Bread           0.471          1.166          1.402          0              315            0              71
  23  Bread           -2.740         0.432          1.013          0              90             0              90
  24  Mug             0.451          1.000          -1.281         0              270            0              91
  25  Mug             -2.740         1.468          0.771          0              90             0              90
  26  Apple           -2.699         0.089          1.396          0              0              0              89
  27  Apple           -2.619         1.725          0.771          0              90             0              90
  28  Apple           0.241          1.057          -1.381         0              0              0              91
  29  Fork            -2.521         0.911          -0.062         0              0              0              70
  30  Kettle          -2.236         0.912          -1.032         0              0              0              78
  31  CreditCard      -0.133         0.908          -1.199         0              0              0              78
  32  Bread           -0.400         0.954          -1.291         0              0              2.762          78
  33  Plate           -1.458         0.843          -1.235         0              0              0              88
  34  SoapBottle      -2.786         0.038          1.501          0              0              0              89
  35  Spatula         -0.051         1.126          1.856          0              315            0              71
  36  Lettuce         -2.660         0.874          0.983          31.046         0              0              90
  37  SaltShaker      -2.810         1.791          -0.803         0              0              0              49
  38  Tomato          -2.680         1.722          1.013          0              90             0              90
  39  PepperShaker    -2.699         2.039          0.790          0              0              0              68
  40  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              78
  41  Pot             -2.622         0.928          -0.396         0              0              0              72
  42  DishSponge      -1.221         0.841          -1.126         0              41.164         0              88
  43  Egg             -2.699         0.072          1.501          0              0              0              89
  44  Spoon           -0.157         0.9            -1.015         0              0              0              78
  45  Knife           -2.499         0.769          -0.027         0              90             0              76
  46  Cup             -1.119         0.841          -1.241         0              0              0              88
  47  Mug             -1.246         0.844          -1.305         0              0              0              88
  48  Bowl            -1.048         1.661          -1.360         0              0              0              67
  49  Cabinet         -2.647         2.075          -0.875         0              0              0
  50  Cabinet         -2.647         2.075          -0.234         0              0              0
  51  Cabinet         -0.824         0.469          -0.907         0              0              0
  52  Cabinet         -1.764         2.009          -1.197         0              0              0
  53  Cabinet         -1.834         2.009          -1.197         0              0              0
  54  Cabinet         -1.850         0.389          -0.897         0              0              0
  55  Cabinet         -1.801         0.469          -0.907         0              0              0
  56  Cabinet         1.115          2.009          -1.197         0              0              0
  57  Cabinet         0.235          2.009          -1.197         0              0              0
  58  Cabinet         1.125          0.470          -0.897         0              0              0
  59  Cabinet         -2.387         0.389          0.375          0              0              0
  60  Cabinet         0.484          0.389          -0.897         0              0              0
  61  Cabinet         -2.625         2.009          -1.197         0              0              0
  62  Cabinet         -2.647         2.009          -0.945         0              0              0
  63  Cabinet         -2.647         2.200          1.664          0              0              0
  64  Cabinet         -2.647         2.009          0.364          0              0              0
  65  Cabinet         0.164          2.009          -1.197         0              0              0
  66  Cabinet         -0.765         2.009          -1.197         0              0              0
  67  Cabinet         -0.834         2.009          -1.197         0              0              0
  68  Cabinet         -2.647         2.200          0.434          0              0              0
  69  StoveBurner     -2.622         0.886          -0.711         0              0              0
  70  CounterTop      -2.699         0.946          0.106          0              0              0
  71  CounterTop      0.908          1.147          0.788          0              315            0
  72  StoveBurner     -2.622         0.886          -0.396         0              0              0
  73  Drawer          -2.026         0.779          -1.082         0              0              0
  74  Sink            -1.328         0.916          -1.225         0              0              0
  75  StoveBurner     -2.822         0.886          -0.711         0              0              0
  76  Drawer          -2.572         0.779          0.099          0              0              0
  77  StoveBurner     -2.822         0.886          -0.396         0              0              0
  78  CounterTop      0.071          0.946          -1.199         0              0              0
  79  Drawer          0.254          0.779          -1.082         0              0              0
  80  LightSwitch     -1.167         1.307          3.0            0              180            0
  81  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  82  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  83  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  84  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  85  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  86  Window          0.321          1.449          3.088          90             0              0
  87  Toaster         -2.823         0.899          0.246          0              90             0
  88  SinkBasin       -1.344         0.838          -1.25          0              0              0
  89  GarbageCan      -2.757         1.886          1.466          0              0              0
  90  Fridge          -2.855         0.0            0.851          0              0              0
  91  Microwave       0.283          0.900          -1.331         0              0              0
  92  Stool           1.541          0.010          1.328          0              45             0
  93  Stool           0.983          0.010          1.793          0              47.459         0
  94  Faucet          -1.392         1.136          -1.399         0              270            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn around, turn left to face counter top where toaster is located. | STEP 2: Pick up knife, located behind the fork and to the left of the toaster. | STEP 3: Turn around, proceed to sink, turn right to face sink. | STEP 4: Place knife in goblet inside sink, standing up on its side. | STEP 5: Pick up goblet holding the knife from the sink. | STEP 6: Turn left and proceed to where counter with microwave is.  Turn right to face counter. | STEP 7: Place goblet on counter, to the left of the potato, the right of the spoon and in front of the bread. | END