Task: Put a wine glass 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           1.25           0.901          0.5            0              180            0
   1  Potato          -0.425         0.831          0.545          0              0              0              76
   2  WineBottle      2.071          0.939          0.361          0              0              0              60
   3  WineBottle      -0.115         0.082          1.925          0              0              0              43
   4  Spatula         -0.068         0.761          1.993          0              90             0              48
   5  Spatula         -0.425         0.805          1.049          0              270            0              76
   6  Egg             -0.119         0.833          1.049          0              0              0              76
   7  Egg             2.207          0.644          -0.278         0              270            0              70
   8  Knife           1.815          0.771          2.197          0              270            0              64
   9  Knife           -0.349         0.816          0.713          0              90             0              76
  10  SoapBottle      1.880          1.503          2.881          0              0              0              50
  11  Bowl            -0.042         0.787          0.545          0              0              0              76
  12  SaltShaker      1.840          0.933          0.657          0              0              0              60
  13  PepperShaker    -0.195         0.932          2.478          0              0              0              49
  14  PepperShaker    -0.115         0.076          2.129          0              0              0              43
  15  Lettuce         2.076          1.580          -0.188         0              270            0              70
  16  Apple           2.079          0.652          -0.188         0              270            0              70
  17  Apple           -0.042         0.840          0.713          0              0              0              76
  18  Egg             1.840          0.980          0.435          0              0              0              60
  19  Lettuce         2.056          1.383          -0.369         0              270            0              70
  20  Fork            1.802          0.746          0.652          0              90             0              58
  21  SoapBottle      2.280          1.504          0.725          0              0              0              57
  22  Ladle           2.205          1.993          1.050          0              0              0              59
  23  Ladle           2.227          0.982          1.866          0              0              0              49
  24  Bread           -0.199         0.823          0.813          0              0              0              76
  25  SaltShaker      -0.196         0.785          1.217          0              0              0              76
  26  Potato          2.112          1.363          -0.550         0              270            0              70
  27  Pan             2.140          0.935          1.504          0              180            0              44
  28  WineBottle      0.033          0.791          0.377          0              0              0              76
  29  Spatula         -0.196         0.805          0.545          0              270            0              76
  30  Knife           1.872          0.772          0.446          0              90             0              58
  31  Tomato          -0.282         0.983          2.757          0              0              0              49
  32  Apple           -0.425         0.840          0.713          0              0              0              76
  33  ButterKnife     1.660          0.926          2.473          0              352.515        0              49
  34  Pot             1.854          0.937          1.497          0              0              0              53
  35  PepperShaker    0.032          0.076          2.129          0              0              0              43
  36  Cup             -0.261         1.034          2.068          0              90             0              74
  37  DishSponge      -0.196         0.790          1.386          0              0              0              76
  38  Plate           0.637          0.085          2.523          0              0              0              56
  39  Spoon           0.060          0.938          2.827          0              0              0              49
  40  Mug             2.064          0.989          2.462          0              225            0              75
  41  Bowl            -0.349         0.787          1.217          0              0              0              76
  42  Cabinet         2.041          2.113          2.618          0              0              0
  43  Cabinet         0.126          0.388          1.774          0              0              0
  44  StoveBurner     2.140          0.929          1.504          0              180            0
  45  Cabinet         1.760          0.388          2.346          0              0              0
  46  Cabinet         1.760          0.388          0.869          0              0              0
  47  Cabinet         2.041          1.810          0.283          0              0              0
  48  Drawer          -0.024         0.774          2.061          0              0              0
  49  CounterTop      1.065          0.973          2.666          0              0              0
  50  Cabinet         1.969          2.113          2.618          0              0              0
  51  StoveBurner     2.140          0.929          1.106          0              0              0
  52  Cabinet         2.041          2.113          1.809          0              0              0
  53  StoveBurner     1.866          0.929          1.504          0              180            0
  54  Cabinet         2.041          2.113          1.766          0              0              0
  55  Cabinet         1.514          0.388          2.360          0              0              0
  56  Cabinet         0.351          0.388          2.360          0              0              0
  57  Cabinet         2.041          1.810          0.872          0              0              0
  58  Drawer          2.167          0.774          0.582          0              0              0
  59  Cabinet         2.041          2.113          0.892          0              0              0
  60  CounterTop      2.060          0.973          0.583          0              0              0
  61  Sink            0.935          0.936          2.646          0              0              0
  62  Curtains        0.964          2.061          2.989          0              0              0
  63  StoveBurner     1.863          0.929          1.106          0              0              0
  64  Drawer          1.911          0.774          2.060          0              0              0
  65  StoveKnob       2.326          1.092          1.610          288.013        90             0
  66  StoveKnob       2.326          1.092          1.460          288.013        90             0
  67  StoveKnob       2.326          1.092          1.210          288.013        90             0
  68  StoveKnob       2.326          1.092          1.050          288.013        90             0
  69  Toaster         2.126          0.926          0.572          0              270            0
  70  Fridge          2.104          0.0            -0.279         0              270            0
  71  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  72  LightSwitch     0.354          1.518          -1.031         0              0              0
  73  SinkBasin       0.903          0.784          2.640          0              0              0
  74  Microwave       -0.310         0.926          2.077          0              90             0
  75  CoffeeMachine   2.084          0.927          2.667          0              225            0
  76  DiningTable     -0.153         -0.000         1.073          0              270            0
  77  Faucet          1.175          0.926          2.950          270            90             0
  78  Faucet          0.686          0.926          2.950          270            90             0
  79  Chair           -0.077         0.002          0.196          0              15.000         0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn left and walk six steps, turn right for one step and then turn left to face the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left and walk to the microwave. | STEP 4: Open the microwave door and put the knife in the wine glass. | STEP 5: Take the wine glass, with the knife still in it, out and shut the door. | STEP 6: Turn around and walk to the counter ahead, turn left and face the counter by the sink. | STEP 7: Put the wine glass down on the counter to your right. | END