Task: To put a knife in a glass and place them on the center table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.900          -2.5           0              180            0
   1  Pen             -2.210         0.926          -1.654         0              0              0              75
   2  Potato          -1.257         1.661          -3.804         0              0              0              63
   3  Potato          -0.350         0.828          -2.008         0              270            0              68
   4  DishSponge      -0.508         0.915          -2.764         0              0              0              50
   5  ButterKnife     -2.324         0.923          -1.193         0              90             0              75
   6  ButterKnife     -2.666         0.923          -2.115         0              0              0              75
   7  Spatula         -0.671         0.911          -3.768         0              180            0              50
   8  Spatula         -2.438         0.938          -2.345         0              0              0              75
   9  Knife           -2.210         0.946          -2.345         0              0              0              75
  10  SoapBottle      -0.671         0.914          -3.485         0              0              0              50
  11  SoapBottle      -0.343         1.529          -3.520         0              45             0              58
  12  Bowl            -2.780         0.922          -2.345         0              0              0              75
  13  Bread           -0.392         1.443          -0.769         0              270            0              67
  14  SaltShaker      -0.690         0.743          -3.556         0              0              0              49
  15  PepperShaker    -0.449         0.743          -3.327         0              0              0              61
  16  PepperShaker    -2.780         0.919          -0.963         0              0              0              75
  17  Mug             -2.096         0.918          -1.423         0              0              0              75
  18  Apple           -2.438         0.996          -0.963         0              0              0              75
  19  Apple           -0.254         0.870          -2.008         0              270            0              68
  20  Apple           -2.006         0.100          -3.763         0              0              0              66
  21  Lettuce         -2.562         1.002          -1.677         36.385         0              0              75
  22  Glassbottle     -2.210         0.924          -0.963         0              0              0              75
  23  Egg             -1.943         0.059          -3.835         0              0              0              66
  24  Pen             -0.436         0.918          -2.563         0              0              0              50
  25  Fork            -2.210         0.924          -1.193         0              0              0              75
  26  SoapBottle      -0.446         1.529          -3.624         0              45             0              58
  27  Pencil          -2.780         0.923          -1.654         0              0              0              75
  28  WineBottle      -0.162         1.528          -2.914         0              0              0              62
  29  Spatula         -2.324         0.938          -1.654         0              0              0              75
  30  Bread           -0.414         0.952          -3.612         1.235          0              0              50
  31  Tomato          -0.441         1.454          -0.979         0              270            0              67
  32  Pan             -1.515         0.935          -3.497         0              0              0              47
  33  Cup             -0.600         0.914          -3.839         0              0              0              50
  34  Pot             -2.238         0.913          -1.882         0              0              0              75
  35  SaltShaker      -0.053         0.912          -2.301         0              0              0              50
  36  Potato          -1.151         1.661          -3.837         0              0              0              63
  37  PepperShaker    -2.780         0.919          -1.423         0              0              0              75
  38  ButterKnife     -2.210         0.923          -2.115         0              0              0              75
  39  DishSponge      -0.383         0.080          -2.201         0              0              0              55
  40  Spoon           -0.328         0.786          -2.125         0              33.895         0              68
  41  Plate           -0.383         0.083          -1.804         0              0              0              45
  42  Knife           -2.438         0.946          -1.423         0              270            0              75
  43  Mug             -0.197         1.093          -0.874         0              0              0              67
  44  Bowl            -2.438         0.922          -1.193         0              0              0              75
  45  Cabinet         -0.582         0.388          -1.804         0              0              0
  46  StoveBurner     -1.515         0.928          -3.752         0              90             0
  47  StoveBurner     -1.515         0.928          -3.497         0              0              0
  48  StoveBurner     -1.129         0.928          -3.498         0              0              0
  49  Drawer          -0.749         0.779          -3.551         0              0              0
  50  CounterTop      -0.303         0.951          -2.793         0              0              0
  51  Cabinet         -0.883         2.140          -3.687         0              0              0
  52  Cabinet         -0.312         2.140          -1.543         0              0              0
  53  Sink            -0.349         0.907          -2.014         0              0              0
  54  Cabinet         -0.877         0.388          -3.422         0              0              0
  55  Cabinet         -0.582         0.388          -2.197         0              0              0
  56  Cabinet         -0.584         0.388          -3.396         0              0              0
  57  Cabinet         -0.312         2.140          -2.481         0              0              0
  58  Cabinet         -0.330         1.921          -3.390         0              0              0
  59  Cabinet         -1.764         2.140          -3.687         0              0              0
  60  StoveBurner     -1.129         0.928          -3.752         0              90             0
  61  Drawer          -0.454         0.779          -3.268         0              0              0
  62  Cabinet         -0.302         1.916          -2.501         0              0              0
  63  Microwave       -1.317         1.517          -3.801         0              1.440          0
  64  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  65  LightSwitch     -4.323         1.319          0.0            0              180            0
  66  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  67  Fridge          -0.330         0.0            -0.769         0              270            0
  68  SinkBasin       -0.350         0.786          -2.018         0              270            0
  69  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  70  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  71  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  72  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  73  Toaster         -0.181         0.903          -2.764         0              270            0
  74  Window          -2.503         1.782          -4.185         90             180            0
  75  DiningTable     -2.432         0.000          -1.694         0              270            0
  76  Shelf           -2.432         0.150          -1.694         0              270            0
  77  Blinds          -2.536         2.699          -3.959         0              0              0
  78  Faucet          -0.079         0.904          -2.034         270            180            0
  79  Chair           -3.264         0.002          -2.094         0              53.280         0
  80  Chair           -3.240         0.002          -1.253         0              117.257        0
  81  Shelf           -2.432         0.523          -1.694         0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn around and step to the right to face the end of the center table. | STEP 2: Pick up the knife on the center table. | STEP 3: Turn right and walk across the room and turn right to face the counter. | STEP 4: Put the knife in the cup on the counter. | STEP 5: Pick up the cup with a knife in it on the counter. | STEP 6: Turn right and walk forward to face the center table. | STEP 7: Place the glass with a knife in it on the center table in the kitchen. | END