Task: put a cup and knife on a counter top

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           0.900          -0.25          0              0              0
   1  Pan             -0.550         0.931          -1.231         0              90             0              54
   2  Statue          -0.846         0.936          -0.067         0              0              0              54
   3  ButterKnife     0.773          0.911          -1.879         0              0              0              60
   4  ButterKnife     -0.624         0.933          -1.386         0              0              0              54
   5  ButterKnife     1.029          0.911          -0.381         0              0              0              55
   6  Fork            0.833          0.154          -0.611         0              270            0              57
   7  Spoon           0.944          0.912          -0.034         0              0              0              55
   8  Spoon           0.773          0.912          -1.965         0              0              0              60
   9  Cup             -0.587         0.777          -0.832         0              90             0              75
  10  Plate           1.101          1.669          -1.961         0              270            0              53
  11  Tomato          0.944          0.952          -0.729         0              0              0              55
  12  Tomato          0.905          0.903          1.063          0              270            0              77
  13  SoapBottle      0.944          0.911          -1.793         0              0              0              60
  14  SaltShaker      -1.363         0.550          2.718          0              0              0              80
  15  PepperShaker    0.811          0.117          0.325          0              270            0              55
  16  Mug             0.960          0.103          -2.212         0              0              0              59
  17  Mug             0.905          0.858          1.254          0              270            0              77
  18  Apple           1.029          0.961          -0.208         0              0              0              55
  19  Apple           -1.041         0.983          -0.643         0              0              0              54
  20  Statue          -0.772         0.936          -1.540         0              0              0              54
  21  Glassbottle     0.913          0.121          0.374          0              270            0              49
  22  Bread           -1.355         1.014          -0.118         0              0              0              54
  23  CreditCard      -0.920         0.930          -1.618         0              0              0              54
  24  CellPhone       -1.570         0.550          2.615          0              0              0              80
  25  Potato          -0.808         0.811          -0.573         0              90             0              75
  26  Knife           0.688          0.934          -0.555         0              90             0              55
  27  Fork            -1.104         0.934          -0.905         0              0              0              54
  28  Pan             0.848          0.946          -1.080         0              0              0              48
  29  Lettuce         0.867          1.688          1.209          9.748          11.057         358.799        77
  30  Plate           1.114          0.914          -0.034         0              0              0              55
  31  Apple           -0.477         0.983          0.315          0              0              0              54
  32  Pot             1.077          0.950          -1.504         0              0              0              50
  33  Spatula         0.773          0.926          -0.381         0              90             0              55
  34  PaperTowelRoll  -0.818         0.283          0.641          0              270            0              74
  35  Tomato          -1.007         0.219          0.576          0              180            0              74
  36  Egg             0.783          0.900          0.967          0              270            0              77
  37  SaltShaker      0.794          0.699          -0.524         0              270            0              52
  38  PepperShaker    0.833          0.150          -0.729         0              270            0              57
  39  Vase            1.199          0.911          -0.729         0              0              0              55
  40  ButterKnife     0.773          0.911          -0.729         0              0              0              55
  41  SoapBottle      1.114          0.911          0.139          0              0              0              55
  42  Vase            1.193          1.667          0.089          0              270            0              62
  43  Bowl            1.026          1.138          1.254          0              270            0              77
  44  DishSponge      -0.587         0.780          -0.659         0              90             0              75
  45  Spoon           1.029          0.912          -0.381         0              0              0              55
  46  Cup             -1.571         0.879          2.773          0              0              0              81
  47  Mug             0.861          0.103          -1.892         0              0              0              59
  48  StoveBurner     0.842          0.919          -1.098         0              0              0
  49  Cabinet         0.648          0.474          0.244          0              270            0
  50  StoveBurner     1.077          0.919          -1.504         0              0              0
  51  StoveBurner     0.842          0.919          -1.504         0              0              0
  52  Drawer          0.637          0.755          -0.649         0              270            0
  53  Cabinet         0.949          2.159          -2.375         0              270            0
  54  CounterTop      -1.238         0.968          -0.643         0              0              0
  55  CounterTop      0.931          0.946          -0.208         0              0              0
  56  StoveBurner     1.077          0.919          -1.098         0              0              0
  57  Drawer          0.637          0.268          -0.649         0              270            0
  58  Drawer          0.637          0.547          -0.649         0              270            0
  59  Cabinet         0.648          0.475          -1.714         0              0              0
  60  CounterTop      0.931          0.946          -2.051         0              0              0
  61  Cabinet         0.948          2.439          -1.780         0              270            0
  62  Cabinet         0.948          2.159          -0.140         0              270            0
  63  Cabinet         0.949          2.159          -0.758         0              270            0
  64  Sink            -0.699         0.927          -0.649         0              0              0
  65  LightSwitch     -2.371         1.218          3.049          0              180            0
  66  StoveKnob       0.673          0.899          -1.373         315            90             180
  67  StoveKnob       0.673          0.899          -1.519         315            90             180
  68  StoveKnob       0.673          0.899          -1.086         315            90             180
  69  StoveKnob       0.673          0.899          -1.237         315            90             180
  70  Toaster         0.984          0.900          0.329          0              270            0
  71  Window          0.014          0.998          -2.640         90             0              0
  72  Window          -2.996         0.998          -2.640         90             0              0
  73  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  74  GarbageCan      -0.946         -0.036         0.575          0              180            0
  75  SinkBasin       -0.698         0.765          -0.647         0              90             0
  76  Microwave       1.042          1.680          -1.295         0              270            0
  77  Fridge          0.966          0.0            1.253          0              0              0
  78  HousePlant      -1.354         0.919          -1.540         0              0              0
  79  Shelf           -1.635         0.172          2.715          0              180            0
  80  Shelf           -1.635         0.552          2.715          0              180            0
  81  Shelf           -1.635         0.880          2.715          0              180            0
  82  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  83  Chair           -1.832         0.002          -0.034         0              119.999        0
  84  Chair           -1.854         0.002          -0.956         0              67.887         0
  85  Faucet          -0.867         1.161          -0.651         0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: walk to face counter to left of stove | STEP 2: pick up butter knife from counter | STEP 3: turn around to face sink | STEP 4: put knife into green cup inside sink | STEP 5: pick up green cup from sink basin | STEP 6: turn around to face counter top | STEP 7: put cup on counter top | END