Task: Put a cup with a 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           -3.25          0.900          -1.0           0              0              0
   1  CreditCard      0.773          0.908          -1.965         0              0              0              63
   2  CellPhone       -1.467         0.550          2.718          0              0              0              83
   3  CellPhone       0.794          0.700          -0.690         0              270            0              55
   4  DishSponge      1.029          0.910          -0.729         0              0              0              58
   5  DishSponge      0.914          0.153          -0.729         0              270            0              60
   6  ButterKnife     -1.292         0.933          -0.905         0              0              0              57
   7  Fork            0.794          0.494          -0.648         0              180            0              61
   8  Fork            0.875          0.494          -0.772         0              0              0              61
   9  Spatula         1.114          0.926          -0.208         0              0              0              58
  10  Spatula         -0.808         0.795          -0.745         0              180            0              78
  11  Knife           -0.698         0.957          -1.463         0              0              0              57
  12  Knife           -1.104         0.957          -1.167         0              90             0              57
  13  Cup             -0.753         0.773          -0.832         0              90             0              78
  14  Cup             1.082          2.205          -1.082         0              270            0              64
  15  Plate           -1.104         0.936          -0.118         0              0              0              57
  16  Tomato          -0.912         0.219          0.576          0              180            0              77
  17  SaltShaker      1.029          0.907          -1.879         0              0              0              63
  18  SaltShaker      1.194          1.662          -0.593         0              270            0              66
  19  Mug             1.060          1.790          -1.339         0              270            0              79
  20  Mug             0.760          0.115          0.374          0              270            0              52
  21  Apple           0.783          0.913          1.254          0              270            0              80
  22  Apple           0.844          1.185          1.540          0              270            0              80
  23  Statue          -1.816         0.871          2.754          0              180            0              57
  24  Glassbottle     1.082          2.208          -1.408         0              270            0              64
  25  Bread           0.773          0.992          -0.729         0              0              0              58
  26  CreditCard      0.915          0.491          -0.690         0              270            0              61
  27  CellPhone       1.029          0.908          0.139          0              0              0              58
  28  Potato          0.944          0.941          -1.793         0              0              0              63
  29  Knife           0.944          0.934          -0.034         0              0              0              58
  30  Fork            0.944          0.911          -0.381         0              0              0              58
  31  Pan             0.966          1.399          1.349          0              0              0              80
  32  Lettuce         1.114          0.988          -0.555         0              0              0              58
  33  Plate           1.193          1.669          0.153          0              270            0              65
  34  Apple           1.060          1.845          -1.132         0              270            0              79
  35  Pot             1.077          0.950          -1.504         0              0              0              53
  36  Spatula         0.754          0.718          -0.607         0              180            0              55
  37  PaperTowelRoll  -0.477         1.037          0.315          0              0              0              57
  38  Tomato          0.905          0.903          0.967          0              270            0              80
  39  Egg             0.844          1.439          1.540          0              270            0              80
  40  SaltShaker      0.875          0.698          -0.772         0              270            0              55
  41  PepperShaker    -1.881         0.550          2.615          0              0              0              83
  42  Vase            -1.423         0.169          2.621          0              0              0              83
  43  ButterKnife     -1.229         0.933          -0.380         0              0              0              57
  44  SoapBottle      -0.624         0.933          -1.386         0              0              0              57
  45  Vase            1.101          1.667          -2.029         0              270            0              56
  46  Bowl            0.844          0.866          1.444          0              270            0              80
  47  DishSponge      1.199          0.910          -0.729         0              0              0              58
  48  Spoon           0.793          0.154          -0.650         0              270            0              60
  49  Cup             -0.642         0.777          -0.918         0              90             0              78
  50  Mug             -0.753         0.775          -0.659         0              90             0              78
  51  StoveBurner     0.842          0.919          -1.098         0              0              0
  52  Cabinet         0.648          0.474          0.244          0              270            0
  53  StoveBurner     1.077          0.919          -1.504         0              0              0
  54  StoveBurner     0.842          0.919          -1.504         0              0              0
  55  Drawer          0.637          0.755          -0.649         0              270            0
  56  Cabinet         0.949          2.159          -2.375         0              270            0
  57  CounterTop      -1.238         0.968          -0.643         0              0              0
  58  CounterTop      0.931          0.946          -0.208         0              0              0
  59  StoveBurner     1.077          0.919          -1.098         0              0              0
  60  Drawer          0.637          0.268          -0.649         0              270            0
  61  Drawer          0.637          0.547          -0.649         0              270            0
  62  Cabinet         0.648          0.475          -1.714         0              0              0
  63  CounterTop      0.931          0.946          -2.051         0              0              0
  64  Cabinet         0.948          2.439          -1.780         0              270            0
  65  Cabinet         0.948          2.159          -0.140         0              270            0
  66  Cabinet         0.949          2.159          -0.758         0              270            0
  67  Sink            -0.699         0.927          -0.649         0              0              0
  68  LightSwitch     -2.371         1.218          3.049          0              180            0
  69  StoveKnob       0.673          0.899          -1.373         315            90             180
  70  StoveKnob       0.673          0.899          -1.519         315            90             180
  71  StoveKnob       0.673          0.899          -1.086         315            90             180
  72  StoveKnob       0.673          0.899          -1.237         315            90             180
  73  Toaster         0.984          0.900          0.329          0              270            0
  74  Window          0.014          0.998          -2.640         90             0              0
  75  Window          -2.996         0.998          -2.640         90             0              0
  76  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  77  GarbageCan      -0.946         -0.036         0.575          0              180            0
  78  SinkBasin       -0.698         0.765          -0.647         0              90             0
  79  Microwave       1.042          1.680          -1.295         0              270            0
  80  Fridge          0.966          0.0            1.253          0              0              0
  81  HousePlant      -1.354         0.919          -1.540         0              0              0
  82  Shelf           -1.635         0.172          2.715          0              180            0
  83  Shelf           -1.635         0.552          2.715          0              180            0
  84  Shelf           -1.635         0.880          2.715          0              180            0
  85  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  86  Chair           -1.832         0.002          -0.034         0              119.999        0
  87  Chair           -1.854         0.002          -0.956         0              67.887         0
  88  Faucet          -0.867         1.161          -0.651         0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn right and take a step to your left then walk to the counter in front of you. | STEP 2: Pick up the butter knife that's in front of you. | STEP 3: Turn right and take a step to your right then walk to the window and turn left then walk to the left side of the stove that's off to your left. | STEP 4: Open the cupboard that's above the left side of the microwave then put the knife in the green cup. | STEP 5: Pick up the green cup with the knife in it and close the cupboard.. | STEP 6: Take a few steps to your right to face the coffee maker. | STEP 7: Put the cup under and to the left of the credit card that's in front of you. | END