Task: Put a pan with a butter 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           -1.5           0.900          2.5            0              180            0
   1  Pan             -0.621         0.758          6.541          0              270            0              91
   2  ButterKnife     1.292          0.771          3.291          0              0              0              48
   3  ButterKnife     0.305          0.760          6.416          0              270            0              91
   4  ButterKnife     -0.003         0.760          6.541          0              270            0              91
   5  Pot             1.32           0.988          3.848          0              0              0              54
   6  Spoon           -0.011         0.773          0.563          0              0              0              52
   7  Spoon           1.405          0.771          4.680          0              0              0              45
   8  Spatula         -0.034         0.775          6.014          0              0              0              91
   9  Fork            -0.486         0.760          6.151          0              225            0              91
  10  Egg             1.924          1.565          6.001          0              270            0              77
  11  Egg             0.168          1.135          0.245          0              0              0              71
  12  Cup             2.137          1.511          5.751          0              270            0              77
  13  Plate           0.958          1.580          0.251          0              0              0              62
  14  Tomato          -0.384         1.042          0.486          0              0              0              55
  15  Bowl            0.745          0.142          0.339          0              0              0              61
  16  PepperShaker    0.107          1.574          0.251          0              0              0              68
  17  Lettuce         -0.034         0.848          6.787          0              0              0              91
  18  Mug             0.147          0.755          6.349          0              135            0              91
  19  Mug             1.585          2.202          4.175          0              0              0              43
  20  Bowl            0.305          0.759          6.604          0              270            0              91
  21  Bread           1.099          1.048          0.434          0              0              0              55
  22  Egg             1.314          1.042          0.440          0              0              0              55
  23  Knife           -0.487         0.789          6.807          0              225            0              91
  24  Fork            -0.685         0.772          0.620          0              270            0              51
  25  Apple           -0.269         0.834          6.588          0              135            0              91
  26  Kettle          1.317          0.988          4.294          0              0              0              50
  27  Plate           -0.552         0.144          0.582          0              0              0              63
  28  SaltShaker      1.582          0.987          3.324          0              0              0              55
  29  Lettuce         1.449          0.932          2.050          0              0              0              78
  30  SoapBottle      0.332          0.144          0.201          0              0              0              64
  31  Spatula         0.532          0.787          0.507          0              90             0              47
  32  PaperTowelRoll  0.213          0.864          6.763          0              225            0              91
  33  Pot             1.559          0.988          4.294          0              0              0              53
  34  Potato          0.771          1.027          0.578          0              0              0              55
  35  ButterKnife     1.225          0.992          1.577          0              0              0              55
  36  PepperShaker    0.150          0.755          6.604          0              270            0              91
  37  Pan             1.313          0.985          4.284          0              0              0              50
  38  Tomato          1.966          1.565          5.876          0              270            0              77
  39  DishSponge      0.803          0.771          0.395          0              0              0              47
  40  Cup             2.094          1.511          6.001          0              270            0              77
  41  Spoon           -0.284         0.761          6.787          0              0              0              91
  42  Mug             1.384          1.043          0.847          0              270            0              55
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn left, move forward toward the sink, turn left, go forward toward the table, then turn right to go around to the side of the table. | STEP 2: Pick up the butter knife from the table, in front of the plant. | STEP 3: Go around to the opposite side of the table. | STEP 4: Put the butter knife in the pan, on the table. | STEP 5: Pick up the pan from the table. | STEP 6: Turn right, go forward toward the door, then turn left to face the counter above the dishwasher. | STEP 7: Place the pan on the counter, to the left of the coffee maker. | END