Task: Put the cup with knife in 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           0.25           0.908          3.25           0              270            0
   1  SprayBottle     1.293          2.153          1.087          0              0              0              62
   2  Potato          1.284          0.931          2.153          0              0              0              104
   3  CellPhone       -0.919         0.746          1.902          0              0              0              53
   4  CellPhone       -1.383         0.746          2.273          0              0              0              53
   5  DishSponge      1.127          0.775          1.114          0              0              0              82
   6  WineBottle      -1.060         0.913          -0.902         0              0              0              78
   7  WineBottle      1.325          1.656          -0.453         0              0              0              54
   8  Spatula         -1.513         0.927          -0.732         0              90             0              78
   9  Spatula         1.523          0.926          0.139          0              0              0              72
  10  Pot             0.802          0.939          -0.740         0              90             0              81
  11  Egg             0.165          0.792          -0.691         0              0              0              99
  12  Egg             -1.475         0.783          2.087          0              0              0              53
  13  Cup             -0.919         0.748          3.015          0              0              0              53
  14  Plate           -1.325         2.154          0.594          0              0              0              71
  15  Tomato          -1.149         0.800          0.988          0              90             0              92
  16  Bread           1.128          0.974          -0.144         0              0              0              72
  17  Bread           -1.320         1.484          1.092          0              90             0              92
  18  Lettuce         1.286          0.982          0.706          0              0              0              72
  19  Lettuce         1.117          0.957          2.369          0              0              0              104
  20  SaltShaker      1.523          0.907          -0.144         0              0              0              72
  21  SaltShaker      -1.383         0.745          2.459          0              0              0              53
  22  PepperShaker    1.450          0.882          2.261          0              0              0              104
  23  PepperShaker    1.367          0.882          2.261          0              0              0              104
  24  Mug             0.041          0.753          -0.691         0              0              0              99
  25  Mug             -1.361         1.010          0.046          0              90             0              98
  26  Apple           -1.123         0.972          -0.748         0              0              0              78
  27  Bread           -1.383         0.813          2.644          0              0              0              53
  28  Glassbottle     0.041          0.759          -0.573         0              0              0              99
  29  Fork            -1.012         0.750          1.902          0              0              0              53
  30  Kettle          1.117          0.887          2.692          0              0              0              104
  31  Tomato          -1.378         1.338          0.883          0              90             0              92
  32  Plate           0.168          0.117          -0.533         0              0              0              67
  33  CellPhone       1.155          0.773          -0.049         0              0              0              73
  34  Lettuce         -1.105         0.820          2.273          0              0              0              53
  35  Pot             0.502          0.939          -0.740         0              90             0              79
  36  SoapBottle      1.131          0.117          0.694          0              0              0              64
  37  WineBottle      1.365          0.912          -0.144         0              0              0              72
  38  Spatula         -1.012         0.763          2.644          0              0              0              53
  39  Bowl            -0.658         0.910          -0.828         0              0              0              78
  40  Apple           -1.394         1.075          -0.109         0              90             0              98
  41  Cup             1.294          2.155          0.642          0              0              0              63
  42  Knife           -1.197         0.770          3.015          0              0              0              53
  43  Egg             1.245          0.120          1.377          0              0              0              93
  44  SaltShaker      1.049          0.907          0.706          0              0              0              72
  45  PepperShaker    1.207          0.907          -0.428         0              0              0              72
  46  Potato          -0.082         0.803          -0.533         0              0              0              99
  47  ButterKnife     -0.130         0.912          -0.359         0              0              0              78
  48  DishSponge      -1.132         0.116          0.248          0              180            0              75
  49  Pan             -1.332         0.9            -0.699         0              345.0          0              78
  50  Spoon           0.103          0.759          -0.612         0              180            0              99
  51  SprayBottle     1.450          0.885          2.800          0              0              0              104
  52  Mug             -1.206         1.416          1.302          0              90             0              92
  53  DiningTable     -1.182         0.006          2.414          0              90             0
  54  Cabinet         1.184          2.059          0.375          0              0              0
  55  Cabinet         1.184          2.059          -0.635         0              0              0
  56  Cabinet         0.591          2.309          -0.645         0              0              0
  57  Cabinet         -0.574         2.059          -0.644         0              0              0
  58  Cabinet         -1.103         2.059          -0.644         0              0              0
  59  Cabinet         -1.185         2.059          -0.331         0              0              0
  60  Cabinet         -1.185         2.059          -0.281         0              0              0
  61  Cabinet         -1.185         2.059          0.375          0              0              0
  62  Cabinet         1.184          2.309          1.174          0              0              0
  63  Cabinet         1.184          2.309          0.424          0              0              0
  64  Cabinet         0.988          0.402          0.581          0              0              0
  65  Cabinet         0.988          0.402          0.531          0              0              0
  66  Cabinet         0.988          0.402          -0.178         0              0              0
  67  Cabinet         0.335          0.402          -0.348         0              0              0
  68  Cabinet         -0.374         0.402          -0.348         0              0              0
  69  Cabinet         0.988          0.402          1.231          0              0              0
  70  Cabinet         -1.185         2.309          1.374          0              0              0
  71  Cabinet         -1.185         2.309          0.424          0              0              0
  72  CounterTop      1.274          0.947          0.064          0              0              0
  73  Drawer          1.116          0.792          -0.015         0              0              0
  74  Drawer          -1.116         0.792          0.210          0              180            0
  75  Cabinet         -0.990         0.402          0.374          0              180            0
  76  Drawer          -1.116         0.792          -0.170         0              180            0
  77  Cabinet         -0.990         0.402          -0.335         0              180            0
  78  CounterTop      -1.001         0.947          -0.669         0              0              0
  79  StoveBurner     0.502          0.932          -0.740         0              90             0
  80  StoveBurner     0.801          0.932          -0.473         0              0              0
  81  StoveBurner     0.801          0.932          -0.740         0              90             0
  82  Drawer          1.116          0.792          1.081          0              0              0
  83  Sink            -0.013         0.912          -0.615         0              0              0
  84  Drawer          1.116          0.792          0.732          0              0              0
  85  StoveBurner     0.502          0.932          -0.469         0              0              0
  86  Drawer          1.116          0.792          0.367          0              0              0
  87  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  90  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  91  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  92  Fridge          -1.300         0.008          0.987          0              90             0
  93  GarbageCan      1.296          -0.024         1.465          0              0              0
  94  Window          -0.012         1.641          -0.972         90             0              0
  95  Window          1.598          1.646          2.489          90             270            0
  96  Toaster         1.356          0.900          1.044          0              270            0
  97  LightSwitch     0.118          1.353          3.799          0              180            0
  98  Microwave       -1.343         0.900          0.053          0              90             0
  99  SinkBasin       -0.029         0.748          -0.612         0              0              0
 100  Faucet          -0.026         0.927          -0.808         0              0              0
 101  Shelf           -1.182         0.127          2.414          0              90             0
 102  Stool           1.140          0.007          3.262          1.206          20.753         0
 103  Shelf           -1.182         0.435          2.414          0              90             0
 104  DiningTable     1.169          0.014          2.569          0              0              1.896
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn left then head to the sink | STEP 2: Pick up the bread knife in front of the sink | STEP 3: Turn left then face the cabinet on your right | STEP 4: Open the cabinet then put the knife in the cup | STEP 5: Pick up the knife with cup  | STEP 6: Go down and face the counter | STEP 7: Put the cup with knife on the counter | END