Task: To put a knife in an orange cup and place it on the counter to the right of the microwave.

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          2.5            0              0              0
   1  Pan             -2.59          0.9            -1.147         0              0              0              75
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              75
   3  CreditCard      -2.026         0.743          -1.137         0              0              0              70
   4  ButterKnife     0.317          1.111          1.248          0              315            0              68
   5  ButterKnife     -2.770         0.911          -0.062         0              0              0              67
   6  ButterKnife     -0.170         1.111          1.808          0              315            0              68
   7  Kettle          -2.622         0.928          -0.396         0              0              0              69
   8  Kettle          -2.025         0.116          -1.056         0              0              0              51
   9  Spoon           0.067          1.112          1.345          0              315            0              68
  10  Spoon           -2.542         0.747          0.099          0              0              0              73
  11  Fork            -1.332         0.852          -1.139         0              270            0              85
  12  Fork            -2.521         0.911          0.021          0              0              0              73
  13  Spatula         0.058          1.126          1.661          0              315            0              68
  14  Spatula         -1.073         0.866          -1.139         0              270            0              85
  15  Egg             0.398          1.040          -1.314         0              0              0              88
  16  SoapBottle      -0.662         0.912          -0.948         0              0              0              75
  17  SoapBottle      -2.699         0.037          1.501          0              0              0              86
  18  Tomato          -2.800         0.869          1.094          0              90             0              87
  19  Tomato          -0.092         1.161          1.510          0              315            0              68
  20  SaltShaker      -2.604         0.907          -0.062         0              0              0              67
  21  SaltShaker      -0.662         0.907          -1.449         0              0              0              75
  22  Mug             -2.936         0.906          -0.147         0              90             0              67
  23  Apple           -2.800         0.430          0.852          0              90             0              87
  24  Apple           -2.815         0.087          1.396          0              0              0              86
  25  Apple           -2.860         0.430          1.013          0              90             0              87
  26  Fork            0.307          1.112          1.866          0              315            0              68
  27  Kettle          -2.843         0.912          -1.032         0              0              0              75
  28  CreditCard      0.164          1.108          1.857          0              315            0              68
  29  Bread           -0.401         0.948          -1.291         0              0              0              75
  30  Plate           -1.458         0.843          -1.235         0              0              0              85
  31  SoapBottle      -0.887         1.663          -1.360         0              0              0              64
  32  Spatula         -2.438         0.926          0.190          0              90             0              67
  33  Lettuce         -2.660         0.874          0.983          31.046         0              0              87
  34  SaltShaker      -2.521         0.907          0.275          0              0              0              67
  35  Tomato          0.394          1.161          1.325          0              315            0              68
  36  PepperShaker    -2.830         0.9            -0.112         0              0              0              67
  37  ButterKnife     -0.662         0.911          -1.199         0              90             0              75
  38  Pot             1.463          1.100          0.61           0              0              0              68
  39  DishSponge      -1.221         0.841          -1.126         0              41.164         0              85
  40  Egg             0.451          1.040          -1.248         0              0              0              88
  41  Spoon           0.254          0.748          -1.052         0              0              0              76
  42  Knife           0.060          1.106          1.587          270            209.998        0              68
  43  Cup             -1.119         0.841          -1.241         0              0              0              85
  44  Mug             -2.810         1.790          -0.803         0              0              0              46
  45  Bowl            -2.046         0.9            -1.163         0              0              0              75
  46  Cabinet         -2.647         2.075          -0.875         0              0              0
  47  Cabinet         -2.647         2.075          -0.234         0              0              0
  48  Cabinet         -0.824         0.469          -0.907         0              0              0
  49  Cabinet         -1.764         2.009          -1.197         0              0              0
  50  Cabinet         -1.834         2.009          -1.197         0              0              0
  51  Cabinet         -1.850         0.389          -0.897         0              0              0
  52  Cabinet         -1.801         0.469          -0.907         0              0              0
  53  Cabinet         1.115          2.009          -1.197         0              0              0
  54  Cabinet         0.235          2.009          -1.197         0              0              0
  55  Cabinet         1.125          0.470          -0.897         0              0              0
  56  Cabinet         -2.387         0.389          0.375          0              0              0
  57  Cabinet         0.484          0.389          -0.897         0              0              0
  58  Cabinet         -2.625         2.009          -1.197         0              0              0
  59  Cabinet         -2.647         2.009          -0.945         0              0              0
  60  Cabinet         -2.647         2.200          1.664          0              0              0
  61  Cabinet         -2.647         2.009          0.364          0              0              0
  62  Cabinet         0.164          2.009          -1.197         0              0              0
  63  Cabinet         -0.765         2.009          -1.197         0              0              0
  64  Cabinet         -0.834         2.009          -1.197         0              0              0
  65  Cabinet         -2.647         2.200          0.434          0              0              0
  66  StoveBurner     -2.622         0.886          -0.711         0              0              0
  67  CounterTop      -2.699         0.946          0.106          0              0              0
  68  CounterTop      0.908          1.147          0.788          0              315            0
  69  StoveBurner     -2.622         0.886          -0.396         0              0              0
  70  Drawer          -2.026         0.779          -1.082         0              0              0
  71  Sink            -1.328         0.916          -1.225         0              0              0
  72  StoveBurner     -2.822         0.886          -0.711         0              0              0
  73  Drawer          -2.572         0.779          0.099          0              0              0
  74  StoveBurner     -2.822         0.886          -0.396         0              0              0
  75  CounterTop      0.071          0.946          -1.199         0              0              0
  76  Drawer          0.254          0.779          -1.082         0              0              0
  77  LightSwitch     -1.167         1.307          3.0            0              180            0
  78  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  79  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  80  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  81  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  82  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  83  Window          0.321          1.449          3.088          90             0              0
  84  Toaster         -2.823         0.899          0.246          0              90             0
  85  SinkBasin       -1.344         0.838          -1.25          0              0              0
  86  GarbageCan      -2.757         1.886          1.466          0              0              0
  87  Fridge          -2.855         0.0            0.851          0              0              0
  88  Microwave       0.283          0.900          -1.331         0              0              0
  89  Stool           1.541          0.010          1.328          0              45             0
  90  Stool           0.983          0.010          1.793          0              47.459         0
  91  Faucet          -1.392         1.136          -1.399         0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn around and walk across the room to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right and face the orange cup. | STEP 4: Place the knife in the orange cup. | STEP 5: Pick up the orange cup with the knife in it on the counter. | STEP 6: Step to the left and face the counter to the right of the microwave. | STEP 7: Place the orange cup with a knife in it on the edge of the counter. | END