Task: Place a knife in a chalice

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          3.25           0              180            0
   1  Pan             -0.254         0.928          4.672          0              0              0              56
   2  Potato          -2.925         0.325          4.352          0              90             0              71
   3  Potato          -0.138         1.044          0.140          0              0              0              73
   4  DishSponge      -0.572         0.900          3.535          0              0              0              77
   5  ButterKnife     -1.266         0.795          0.337          0              0              0              72
   6  ButterKnife     -1.904         0.928          0.348          0              0              0              54
   7  Fork            -0.433         0.662          0.300          0              90             0              43
   8  Egg             -2.883         0.087          0.317          0              26.101         0              68
   9  Egg             -0.921         0.832          0.502          0              0              0              72
  10  Cup             -0.403         1.018          0.235          0              0              0              73
  11  Cup             -2.691         0.298          4.575          0              90             0              71
  12  Plate           -1.691         1.777          0.160          0              0              0              49
  13  Plate           -0.747         1.777          0.251          0              0              0              52
  14  Knife           -2.431         0.688          0.355          0              90             0              62
  15  SoapBottle      -2.943         0.935          3.302          0              90             0              61
  16  Bowl            -2.738         0.295          4.427          0              90             0              71
  17  PepperShaker    -2.628         0.931          3.673          0              0              0              61
  18  Lettuce         -2.847         0.712          4.352          0              90             0              71
  19  Mug             -2.778         1.001          3.714          0              90             0              74
  20  Apple           -2.884         0.110          0.402          0              26.101         0              68
  21  Apple           -0.297         1.074          0.267          0              0              0              73
  22  Egg             -0.456         1.056          0.299          0              0              0              73
  23  Plate           -0.228         0.904          2.530          0              0              0              77
  24  Fork            -0.314         0.901          2.932          0              0              0              77
  25  Bread           -2.864         0.940          1.983          0              0              0              75
  26  Apple           -2.037         0.984          0.602          0              0              0              54
  27  Lettuce         -0.400         0.980          2.329          0              0              0              77
  28  Spatula         -0.486         0.915          2.329          0              0              0              77
  29  Knife           -2.789         0.926          2.309          0              90             0              75
  30  Potato          -2.706         0.961          3.395          0              0              0              61
  31  Tomato          -2.805         1.250          4.278          0              90             0              71
  32  Cup             -2.686         0.900          1.913          0              0              0              75
  33  SaltShaker      -2.480         0.896          2.706          0              0              0              75
  34  PepperShaker    -2.549         0.931          3.395          0              0              0              61
  35  ButterKnife     -2.210         0.916          0.619          0              0              0              54
  36  SoapBottle      -2.549         0.935          3.580          0              90             0              61
  37  Pan             -0.535         0.928          4.274          0              0              0              58
  38  DishSponge      -0.272         0.661          0.519          0              0              0              43
  39  Pot             -0.572         0.900          3.334          0              0              0              77
  40  Spoon           -0.486         0.901          2.731          0              0              0              77
  41  Mug             -2.583         0.895          2.573          0              0              0              75
  42  Bowl            -2.377         0.897          2.309          0              0              0              75
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn around and walk to the fridge on your left | STEP 2: Open the fridge and pick up the orange chalice that is sitting on the top shelf then close the fridge | STEP 3: Turn left and cross the room the the counter to the right of the sink | STEP 4: Place the chalice on the counter to the left of the apple | STEP 5: Pick up the knife that is behind the chalice and apple | STEP 6: Place the knife in the chalice | END