Task: Put a cup with a knife in it on the 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          -1.0           0              180            0
   1  Statue          -0.197         1.110          0.757          0              270            0              59
   2  Potato          -0.059         1.142          0.251          0              0              0              59
   3  CreditCard      -1.826         0.151          -0.342         0              90             0              82
   4  Plate           -2.120         0.795          1.168          0              90             0              92
   5  Plate           0.217          1.108          -0.506         0              0              0              59
   6  Egg             -0.059         1.146          -0.506         0              0              0              59
   7  Egg             -0.173         1.825          -2.449         0              0              0              85
   8  SoapBottle      1.789          0.881          -2.590         0              180            0              86
   9  Lettuce         -2.070         1.385          1.092          0              90             0              92
  10  Apple           -2.037         0.849          0.837          0              90             0              92
  11  Apple           -1.907         0.098          1.933          0              270            0              90
  12  Knife           0.969          0.936          -2.484         0              270            0              61
  13  Knife           0.217          1.136          -0.759         0              0              0              59
  14  Fork            -0.848         0.911          -2.406         0              0              0              84
  15  Spoon           -0.995         0.912          -2.329         0              0              0              84
  16  Spoon           0.893          0.482          -2.380         0              0              0              67
  17  Mug             0.336          0.135          -2.288         0              0              0              61
  18  Mug             -0.122         1.785          -2.546         0              0              0              85
  19  ButterKnife     -0.197         1.111          -0.253         0              0              0              59
  20  Kettle          -1.908         0.770          -1.587         0              90             0              94
  21  Kettle          -0.335         1.112          -0.001         0              0              0              59
  22  DishSponge      -1.962         0.047          2.124          0              270            0              90
  23  Bowl            -1.937         0.908          -0.513         0              0              0              84
  24  Book            -1.937         0.910          -2.146         0              270            0              84
  25  Glassbottle     0.453          0.911          -2.484         0              0              0              61
  26  Knife           -1.586         0.936          -2.483         0              0              0              84
  27  Bread           -0.473         1.184          0.504          0              0              0              59
  28  Fork            0.969          0.911          -2.330         0              0              0              61
  29  Potato          -1.963         0.800          -1.242         0              90             0              94
  30  SoapBottle      -1.653         0.154          -0.101         0              90             0              82
  31  Kettle          -0.036         0.950          -2.372         0              270            0              54
  32  Pan             0.079          1.111          -0.253         0              270            0              59
  33  Plate           0.506          0.137          -2.337         0              0              0              76
  34  Tomato          -1.982         1.348          0.925          0              90             0              92
  35  Vase            2.042          0.540          -2.495         0              0              0              89
  36  Egg             -1.742         0.804          -1.760         0              90             0              94
  37  CreditCard      1.008          0.478          -2.478         0              0              0              67
  38  Statue          -0.197         1.110          -0.506         0              180            0              59
  39  WineBottle      1.063          1.661          -2.600         0              0              0              81
  40  Pot             -0.465         0.950          -2.576         0              90             0              68
  41  Spatula         0.453          0.925          -2.560         0              180            0              61
  42  PaperTowelRoll  1.993          0.985          -2.509         0              180            0              86
  43  Cup             -2.040         1.500          1.176          0              90             0              92
  44  Vase            0.711          0.908          -2.407         0              0              0              61
  45  Bowl            1.098          0.907          -2.330         0              0              0              61
  46  SaltShaker      -0.473         1.107          -0.506         0              0              0              59
  47  PepperShaker    1.893          0.549          -2.459         0              180            0              89
  48  Lettuce         -1.806         0.973          -0.942         0              256.771        0              84
  49  ButterKnife     -1.852         0.769          -1.414         0              90             0              94
  50  Apple           -1.999         0.277          1.168          0              90             0              92
  51  DishSponge      -2.100         0.910          0.230          0              0              0              56
  52  Spoon           0.453          0.911          -2.330         0              0              0              61
  53  Mug             -1.731         0.956          -0.168         0              90             0              93
  54  StoveBurner     -0.036         0.915          -2.372         0              0              0
  55  Drawer          0.949          0.832          -2.197         0              0              0
  56  Drawer          -1.560         0.839          0.204          0              90             0
  57  StoveBurner     -0.465         0.915          -2.371         0              180            0
  58  Drawer          -1.560         0.839          -0.197         0              90             0
  59  CounterTop      -0.079         1.147          -0.001         0              0              0
  60  Cabinet         -1.549         0.494          -1.964         0              90             0
  61  CounterTop      0.693          0.946          -2.483         0              0              0
  62  StoveBurner     -0.036         0.915          -2.576         0              0              0
  63  Drawer          0.949          0.393          -2.200         0              0              0
  64  Drawer          0.949          0.708          -2.200         0              0              0
  65  Cabinet         -1.549         0.494          0.379          0              90             0
  66  StoveKnob       -0.022         0.881          -2.187         45             0              0
  67  Drawer          0.949          0.560          -2.201         0              0              0
  68  StoveBurner     -0.465         0.915          -2.575         0              180            0
  69  Window          -2.230         1.429          -1.203         0              0              0
  70  StoveKnob       -0.483         0.881          -2.187         45             0              0
  71  Sink            -1.899         0.964          -1.5           0              90             0
  72  StoveKnob       -0.328         0.881          -2.187         45             0              0
  73  Cabinet         -0.727         2.015          -2.460         0              0              0
  74  Drawer          -1.560         0.655          -0.196         0              90             0
  75  Cabinet         -1.685         2.015          -2.461         0              0              0
  76  Cabinet         0.680          0.494          -2.200         0              0              0
  77  Cabinet         -1.179         0.494          -2.200         0              0              0
  78  Cabinet         -1.849         2.015          0.379          0              90             0
  79  Drawer          0.949          0.221          -2.200         0              0              0
  80  StoveKnob       -0.183         0.881          -2.187         45             0              0
  81  Cabinet         0.719          2.015          -2.460         0              0              0
  82  Drawer          -1.560         0.331          -0.196         0              90             0
  83  Cabinet         0.680          2.015          -2.460         0              0              0
  84  CounterTop      -1.868         0.946          -1.205         0              0              0
  85  Microwave       -0.236         1.689          -2.525         0              0              0
  86  Shelf           1.751          0.880          -2.560         0              0              0
  87  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  88  Toaster         -1.835         0.900          0.134          0              90             0
  89  Shelf           1.750          0.552          -2.559         0              0              0
  90  GarbageCan      -1.935         -0.002         2.029          0              270            0
  91  Shelf           1.750          0.172          -2.559         0              0              0
  92  Fridge          -2.096         0.0            1.088          0              0              0
  93  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  94  SinkBasin       -1.908         0.759          -1.488         0              90             0
  95  LightSwitch     2.329          1.309          -0.159         0              270            0
  96  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  97  Stool           0.702          0.000          -0.514         1.202          65.108         0
  98  Stool           0.743          0.000          0.563          1.227          106.706        0
  99  Faucet          -2.070         1.132          -1.514         0              0              0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn right, go across the room, turn right and go behind the counter on the right. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room and turn left to the fridge. | STEP 4: Put the knife in the cup inside the freezer. | STEP 5: Pick up the cup with the knife inside it. | STEP 6: Turn left, go across the room and turn right toward the sink. | STEP 7: Put the cup on the counter by the left corner of the sink. | END