Task: Put a green cup 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           -1.0           0.900          1.5            0              270            0
   1  Vase            -1.985         0.555          2.822          0              0              0              77
   2  CellPhone       0.944          0.908          -1.879         0              0              0              57
   3  CellPhone       0.688          0.908          -0.381         0              0              0              52
   4  DishSponge      1.055          1.665          -2.097         0              270            0              50
   5  DishSponge      -0.865         0.178          0.575          0              180            0              71
   6  ButterKnife     -0.550         0.933          0.162          0              0              0              51
   7  ButterKnife     -1.292         0.933          -0.643         0              0              0              51
   8  Knife           -0.698         0.957          -1.154         0              0              0              51
   9  Plate           1.193          1.669          0.153          0              270            0              59
  10  Bowl            -1.467         0.557          2.718          0              0              0              77
  11  SaltShaker      0.833          0.150          -0.571         0              270            0              54
  12  PepperShaker    0.794          0.490          -0.565         0              270            0              55
  13  PepperShaker    -1.292         0.929          0.144          0              0              0              51
  14  Bread           -0.846         1.014          -1.540         0              0              0              51
  15  Bread           0.944          0.992          -0.381         0              0              0              52
  16  Apple           0.859          0.961          -1.793         0              0              0              57
  17  Statue          0.859          0.914          -0.034         0              0              0              52
  18  Glassbottle     -1.881         0.554          2.615          0              0              0              77
  19  Bread           1.026          1.482          1.349          0              270            0              74
  20  CreditCard      -1.878         0.878          2.746          0              0              0              78
  21  CellPhone       -1.418         0.930          -0.380         0              0              0              51
  22  Potato          0.995          1.825          -1.339         0              270            0              73
  23  Knife           -1.104         0.957          -1.167         0              90             0              51
  24  Fork            -0.697         0.781          -0.832         0              180            0              72
  25  Pan             0.848          0.946          -1.080         0              0              0              45
  26  Lettuce         0.905          1.212          1.444          0              270            0              74
  27  Plate           1.194          1.669          -0.593         0              270            0              60
  28  Apple           -0.642         0.830          -0.745         0              90             0              72
  29  Pot             1.077          0.950          -1.504         0              0              0              47
  30  Spatula         1.199          0.926          -0.208         0              0              0              52
  31  PaperTowelRoll  -1.101         0.283          0.641          0              90             0              71
  32  Tomato          -0.624         0.974          -1.308         0              0              0              51
  33  Egg             1.087          1.439          1.063          0              270            0              74
  34  SaltShaker      -0.698         0.929          -1.463         0              0              0              51
  35  PepperShaker    -0.550         0.929          -0.067         0              0              0              51
  36  Vase            1.114          0.911          0.139          0              0              0              52
  37  ButterKnife     -1.325         0.919          -0.884         0              10.678         0              51
  38  SoapBottle      -1.054         0.179          0.543          0              180            0              71
  39  Vase            0.811          0.109          -1.892         0              0              0              56
  40  Bowl            1.056          1.669          -0.337         0              270            0              60
  41  DishSponge      -0.550         0.933          -1.463         0              0              0              51
  42  Spoon           0.773          0.912          0.313          0              0              0              52
  43  Cup             -1.571         0.879          2.773          0              0              0              78
  44  Mug             0.903          0.942          -2.110         0              300.131        0              70
  45  StoveBurner     0.842          0.919          -1.098         0              0              0
  46  Cabinet         0.648          0.474          0.244          0              270            0
  47  StoveBurner     1.077          0.919          -1.504         0              0              0
  48  StoveBurner     0.842          0.919          -1.504         0              0              0
  49  Drawer          0.637          0.755          -0.649         0              270            0
  50  Cabinet         0.949          2.159          -2.375         0              270            0
  51  CounterTop      -1.238         0.968          -0.643         0              0              0
  52  CounterTop      0.931          0.946          -0.208         0              0              0
  53  StoveBurner     1.077          0.919          -1.098         0              0              0
  54  Drawer          0.637          0.268          -0.649         0              270            0
  55  Drawer          0.637          0.547          -0.649         0              270            0
  56  Cabinet         0.648          0.475          -1.714         0              0              0
  57  CounterTop      0.931          0.946          -2.051         0              0              0
  58  Cabinet         0.948          2.439          -1.780         0              270            0
  59  Cabinet         0.948          2.159          -0.140         0              270            0
  60  Cabinet         0.949          2.159          -0.758         0              270            0
  61  Sink            -0.699         0.927          -0.649         0              0              0
  62  LightSwitch     -2.371         1.218          3.049          0              180            0
  63  StoveKnob       0.673          0.899          -1.373         315            90             180
  64  StoveKnob       0.673          0.899          -1.519         315            90             180
  65  StoveKnob       0.673          0.899          -1.086         315            90             180
  66  StoveKnob       0.673          0.899          -1.237         315            90             180
  67  Toaster         0.984          0.900          0.329          0              270            0
  68  Window          0.014          0.998          -2.640         90             0              0
  69  Window          -2.996         0.998          -2.640         90             0              0
  70  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  71  GarbageCan      -0.946         -0.036         0.575          0              180            0
  72  SinkBasin       -0.698         0.765          -0.647         0              90             0
  73  Microwave       1.042          1.680          -1.295         0              270            0
  74  Fridge          0.966          0.0            1.253          0              0              0
  75  HousePlant      -1.354         0.919          -1.540         0              0              0
  76  Shelf           -1.635         0.172          2.715          0              180            0
  77  Shelf           -1.635         0.552          2.715          0              180            0
  78  Shelf           -1.635         0.880          2.715          0              180            0
  79  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  80  Chair           -1.832         0.002          -0.034         0              119.999        0
  81  Chair           -1.854         0.002          -0.956         0              67.887         0
  82  Faucet          -0.867         1.161          -0.651         0              0              0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Go toward the wall, then turn left and go in between the chairs, then turn left to face the kitchen island. | STEP 2: Pick up the rightmost butter knife on the kitchen island. | STEP 3: Turn around and move forward, then go to the shelves to your right. | STEP 4: Put the butter knife in the green cup on the top shelf. | STEP 5: Pick up the green cup from the top shelf. | STEP 6: Turn right and go towards the wall, then turn right at the refrigerator and go forward, then turn left to face the dishwasher. | STEP 7: Put the green cup on the counter above the dishwasher. | END