Task: Putting a Knife/glass into a cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.900          -2.0           0              90             0
   1  Pencil          -0.749         0.746          -3.586         0              270            0              50
   2  Pencil          -2.210         0.923          -1.654         0              0              0              76
   3  Pen             -0.743         0.918          -3.697         0              0              0              51
   4  Pen             -1.943         0.029          -3.727         0              0              0              67
   5  DishSponge      -0.350         0.796          -2.155         0              270            0              69
   6  DishSponge      -2.210         0.923          -1.423         0              0              0              76
   7  WineBottle      -2.324         0.924          -1.884         0              0              0              76
   8  Spoon           -2.324         0.924          -0.963         0              0              0              76
   9  Cup             -2.780         0.922          -1.423         0              0              0              76
  10  Cup             -0.809         0.081          -3.623         0              0              0              57
  11  Tomato          -2.552         0.987          -0.963         0              0              0              76
  12  Tomato          -0.246         1.162          -0.560         0              270            0              68
  13  Lettuce         -0.392         1.191          -0.769         0              270            0              68
  14  Bread           -2.666         0.976          -2.345         0              0              0              76
  15  SaltShaker      -2.552         0.919          -1.423         0              0              0              76
  16  SaltShaker      -0.600         0.912          -3.909         0              0              0              51
  17  Mug             -0.197         1.385          -0.665         0              0              0              68
  18  Mug             -0.600         0.910          -3.626         0              0              0              51
  19  Apple           -0.441         1.172          -0.560         0              270            0              68
  20  Apple           -2.780         0.996          -2.115         0              0              0              76
  21  Apple           -1.881         0.100          -3.763         0              0              0              67
  22  Lettuce         -2.562         1.002          -1.677         36.385         0              0              76
  23  Glassbottle     -2.666         0.924          -1.884         0              0              0              76
  24  Egg             -0.392         1.423          -0.874         0              270            0              68
  25  Pen             -2.438         0.926          -1.884         0              0              0              76
  26  Fork            -2.438         0.924          -1.654         0              0              0              76
  27  SoapBottle      -2.096         0.922          -1.423         0              0              0              76
  28  Pencil          -2.324         0.923          -2.115         0              0              0              76
  29  WineBottle      -2.324         0.924          -2.345         0              0              0              76
  30  Spatula         -2.666         0.938          -1.193         0              0              0              76
  31  Bread           -0.415         0.952          -3.625         0              0              0              51
  32  Tomato          -0.308         1.754          -0.560         0              270            0              68
  33  Pan             -2.174         0.913          -1.099         0              0              0              76
  34  Cup             -0.186         1.526          -2.598         0              0              0              63
  35  Pot             -1.515         0.935          -3.497         0              0              0              48
  36  SaltShaker      -0.233         1.527          -3.630         0              45             0              59
  37  Potato          -1.151         1.661          -3.837         0              0              0              64
  38  PepperShaker    -0.422         0.077          -2.109         0              0              0              56
  39  ButterKnife     -2.438         0.923          -1.423         0              0              0              76
  40  DishSponge      -0.254         0.796          -2.008         0              270            0              69
  41  Spoon           -0.743         0.916          -3.485         0              0              0              51
  42  Plate           -2.096         0.925          -2.115         0              0              0              76
  43  Knife           -2.666         0.946          -1.423         0              180            0              76
  44  Mug             -1.362         1.625          -3.804         0              0              0              64
  45  Bowl            -0.308         1.689          -0.77          0              270            0              68
  46  Cabinet         -0.582         0.388          -1.804         0              0              0
  47  StoveBurner     -1.515         0.928          -3.752         0              90             0
  48  StoveBurner     -1.515         0.928          -3.497         0              0              0
  49  StoveBurner     -1.129         0.928          -3.498         0              0              0
  50  Drawer          -0.749         0.779          -3.551         0              0              0
  51  CounterTop      -0.303         0.951          -2.793         0              0              0
  52  Cabinet         -0.883         2.140          -3.687         0              0              0
  53  Cabinet         -0.312         2.140          -1.543         0              0              0
  54  Sink            -0.349         0.907          -2.014         0              0              0
  55  Cabinet         -0.877         0.388          -3.422         0              0              0
  56  Cabinet         -0.582         0.388          -2.197         0              0              0
  57  Cabinet         -0.584         0.388          -3.396         0              0              0
  58  Cabinet         -0.312         2.140          -2.481         0              0              0
  59  Cabinet         -0.330         1.921          -3.390         0              0              0
  60  Cabinet         -1.764         2.140          -3.687         0              0              0
  61  StoveBurner     -1.129         0.928          -3.752         0              90             0
  62  Drawer          -0.454         0.779          -3.268         0              0              0
  63  Cabinet         -0.302         1.916          -2.501         0              0              0
  64  Microwave       -1.317         1.517          -3.801         0              1.440          0
  65  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  66  LightSwitch     -4.323         1.319          0.0            0              180            0
  67  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  68  Fridge          -0.330         0.0            -0.769         0              270            0
  69  SinkBasin       -0.350         0.786          -2.018         0              270            0
  70  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  71  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  72  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  74  Toaster         -0.181         0.903          -2.764         0              270            0
  75  Window          -2.503         1.782          -4.185         90             180            0
  76  DiningTable     -2.432         0.000          -1.694         0              270            0
  77  Shelf           -2.432         0.150          -1.694         0              270            0
  78  Blinds          -2.536         2.699          -3.959         0              0              0
  79  Faucet          -0.079         0.904          -2.034         270            180            0
  80  Chair           -3.264         0.002          -2.094         0              53.280         0
  81  Chair           -3.240         0.002          -1.253         0              117.257        0
  82  Shelf           -2.432         0.523          -1.694         0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn to the left, walk across the room, then turn to the right, walk across the room then turn to the right, walk halfway across the room then turn right to face the table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn to the right, walk across the room, turn to the left, take a step, then turn left to face the table. | STEP 4: Put the knife into a glass. | STEP 5: pick up the glass with a knife in it. | STEP 6: Turn to the left, walk across the room, turn to the right, take a small step, then turn to the left, then turn right and take another step, then turn left to face a cabinet. | STEP 7: open the cabinet, put the glass and knife in it, then close the cabinet. | END