Task: Place a goblet holding a knife on a kitchen counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.901          1.25           0              90             0
   1  Spoon           -1.716         0.663          0.355          0              0              0              55
   2  Fork            -2.789         0.901          2.706          0              0              0              73
   3  Egg             -2.930         0.665          4.352          0              90             0              69
   4  Egg             -2.583         0.933          2.573          0              0              0              73
   5  Cup             -2.888         1.186          4.427          0              90             0              69
   6  Cup             -1.691         1.773          0.205          0              0              0              49
   7  Cup             -0.228         0.900          2.932          0              0              0              75
   8  Knife           -1.007         0.821          0.337          0              0              0              70
   9  Knife           -2.161         0.688          0.464          0              270            0              60
  10  SoapBottle      -0.304         1.773          0.160          0              0              0              51
  11  Tomato          -2.722         0.696          4.575          0              90             0              69
  12  Bowl            -2.995         0.897          2.309          0              0              0              73
  13  Bowl            -2.686         0.897          2.309          0              0              0              73
  14  SaltShaker      -0.487         0.658          0.300          0              0              0              41
  15  Lettuce         -2.738         0.378          4.575          0              90             0              69
  16  Lettuce         -0.486         0.980          2.329          0              0              0              75
  17  Mug             -1.303         1.768          0.251          0              0              0              49
  18  Mug             -2.778         1.001          3.714          0              90             0              72
  19  Apple           -2.888         0.688          4.427          0              90             0              69
  20  Egg             -0.403         1.056          0.267          0              0              0              71
  21  Plate           -2.301         1.777          0.160          0              0              0              48
  22  Fork            -2.864         0.936          3.209          0              0              0              59
  23  Bread           -0.228         0.957          2.530          0              0              0              75
  24  Apple           -0.657         0.956          3.133          0              0              0              75
  25  Lettuce         -0.572         0.980          2.530          0              0              0              75
  26  Spatula         -0.164         0.677          0.464          0              270            0              41
  27  Knife           -0.218         0.688          0.464          0              270            0              41
  28  Potato          -2.888         0.658          4.649          0              90             0              69
  29  Tomato          -2.764         0.696          4.352          0              90             0              69
  30  Cup             -0.191         1.023          0.267          0              0              0              71
  31  SaltShaker      -0.314         0.896          2.731          0              0              0              75
  32  PepperShaker    -2.377         0.658          0.409          0              0              0              60
  33  ButterKnife     -2.686         0.900          2.045          0              0              0              73
  34  SoapBottle      -2.798         0.053          0.318          0              26.101         0              76
  35  Pan             -0.254         0.928          4.672          0              0              0              54
  36  DishSponge      -2.583         0.900          1.913          0              0              0              73
  37  Pot             -0.535         0.928          4.274          0              0              0              56
  38  Spoon           -0.326         0.663          0.300          0              0              0              41
  39  Mug             -2.480         0.895          2.573          0              0              0              73
  40  Bowl            -2.377         0.897          2.309          0              0              0              73
  41  Drawer          -0.325         0.696          0.413          0              0              0
  42  Cabinet         -0.595         0.490          0.648          0              0              0
  43  Cabinet         -0.555         0.490          0.646          0              0              0
  44  Cabinet         -1.591         0.490          0.646          0              0              0
  45  Cabinet         -1.554         0.490          0.646          0              0              0
  46  Cabinet         -2.550         0.490          0.646          0              0              0
  47  Cabinet         -1.514         2.046          0.392          0              0              0
  48  Cabinet         -2.474         2.046          0.392          0              0              0
  49  Cabinet         -1.478         2.046          0.392          0              0              0
  50  Cabinet         -0.518         2.046          0.392          0              0              0
  51  Cabinet         -0.479         2.046          0.392          0              0              0
  52  CounterTop      -1.366         0.952          0.349          0              0              0
  53  Sink            -1.108         0.926          0.340          0              0              0
  54  StoveBurner     -0.254         0.922          4.672          0              0              0
  55  Drawer          -1.824         0.696          0.413          0              0              0
  56  StoveBurner     -0.535         0.922          4.274          0              0              0
  57  StoveBurner     -0.254         0.922          4.274          0              0              0
  58  StoveBurner     -0.536         0.922          4.672          0              0              0
  59  CounterTop      -2.780         0.971          3.487          0              0              0
  60  Drawer          -2.323         0.696          0.413          0              0              0
  61  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  65  Toaster         -0.286         0.861          3.520          0              270            0
  66  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  67  LightSwitch     -0.064         1.447          1.996          0              270            0
  68  Window          -3.075         1.593          1.361          90             90             0
  69  Fridge          -2.802         0.0            4.427          0              0              0
  70  SinkBasin       -1.106         0.785          0.337          0              0              0
  71  Microwave       -0.358         0.917          0.224          0              0              0
  72  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  73  DiningTable     -2.733         -0.003         2.607          0              270            0
  74  Faucet          -1.077         0.920          0.028          270            270            0
  75  DiningTable     -0.488         -0.003         3.182          0              270            0
  76
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn left and go to the near end of the table with the green sponge. | STEP 2: Pick up the knife that is behind the sponge. | STEP 3: Turn around and go to the cabinet above the brown paper bag. | STEP 4: Put the knife in the goblet that is on the lower cabinet shelf. | STEP 5: Pick up the goblet with the knife in it. | STEP 6: Lower the goblet to counter height. | STEP 7: Put the goblet near the front edge of the counter, in front of the jar of utensils. | END