(gotolocation agent1 cabinet_1)
(pickupobject agent1 cup_1)
(gotolocation agent1 countertop_1)
(putobjectinreceptacle agent1 cup_1 countertop_1)
(pickupobject agent1 butterknife_1)
(gotolocation agent1 cup_1)
(putobjectinreceptacle agent1 butterknife_1 cup_1)