Task: drop the plate with a knife in it on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.914          3.0            0              0              0
   1  DishSponge      -2.759         0.079          3.701          0              0              0              55
   2  DishSponge      -1.608         0.915          4.104          0              0              0              43
   3  ButterKnife     -3.559         0.915          1.189          0              0              0              52
   4  Kettle          -3.424         0.966          2.374          0              0              0              49
   5  Spoon           -3.559         0.916          1.607          0              0              0              52
   6  Fork            -3.126         0.747          2.972          0              90             0              45
   7  Fork            -1.815         0.916          4.104          0              0              0              43
   8  Egg             -1.192         0.122          3.692          0              270            0              75
   9  Cup             -3.475         1.458          2.922          0              0              0              50
  10  Knife           -3.176         0.939          3.336          0              0              0              43
  11  Knife           -3.272         0.939          1.357          0              0              0              52
  12  Tomato          -0.673         1.054          4.051          0              180            0              69
  13  Tomato          -1.192         0.155          3.788          0              270            0              75
  14  SoapBottle      -3.081         0.915          1.189          0              0              0              52
  15  SoapBottle      -1.518         0.080          3.586          0              0              0              48
  16  PepperShaker    -3.157         0.742          3.296          0              0              0              53
  17  Lettuce         -3.463         1.001          1.440          0              0              0              52
  18  Mug             -0.790         0.717          3.817          0              180            0              69
  19  Mug             -1.666         0.784          3.7            0              0              0              73
  20  Egg             -3.442         1.581          2.068          0              90             0              74
  21  Knife           -2.503         0.939          3.890          0              90             0              43
  22  Fork            -3.185         0.747          3.027          0              270            0              45
  23  Bread           -0.206         1.067          4.051          0              180            0              69
  24  Potato          -2.402         0.947          3.998          0              0              0              43
  25  Plate           -3.463         0.919          2.844          0              0              0              43
  26  Pot             -3.424         0.966          1.971          0              0              0              51
  27  Kettle          -3.143         0.966          1.971          0              0              0              63
  28  WineBottle      -3.231         0.084          1.513          0              0              0              62
  29  Bowl            -3.458         1.993          2.054          0              0              0              57
  30  Tomato          -1.921         0.858          3.662          0              0              0              73
  31  Cup             -0.556         1.273          4.062          0              180            0              69
  32  Spatula         -3.185         0.760          1.279          0              90             0              44
  33  SoapBottle      -3.081         0.915          1.440          0              0              0              52
  34  Lettuce         -3.368         1.001          3.663          0              0              0              43
  35  Pan             -2.614         0.902          3.620          0              0              0              43
  36  Apple           -3.176         0.975          1.607          0              0              0              52
  37  SaltShaker      -1.660         0.077          3.664          0              0              0              54
  38  PepperShaker    -3.654         0.912          1.440          0              0              0              52
  39  ButterKnife     -3.176         0.915          2.844          0              0              0              43
  40  DishSponge      -2.126         0.915          4.104          0              0              0              43
  41  Spoon           -1.857         0.790          3.7            0              180            0              73
  42  Mug             -3.073         0.078          1.591          0              0              0              62
  43  CounterTop      -3.381         0.950          3.335          0              0              0
  44  Drawer          -3.121         0.775          1.357          0              0              0
  45  Drawer          -3.121         0.777          2.916          0              0              0
  46  StoveBurner     -3.148         0.958          2.374          0              0              0
  47  Sink            -1.797         0.917          3.660          0              0              0
  48  Cabinet         -1.421         0.388          3.459          0              0              0
  49  StoveBurner     -3.424         0.958          2.374          0              0              0
  50  Cabinet         -3.365         1.931          2.676          0              0              0
  51  StoveBurner     -3.424         0.958          1.971          0              0              0
  52  CounterTop      -3.381         0.951          1.356          0              0              0
  53  Drawer          -3.121         0.781          3.295          0              0              0
  54  Cabinet         -2.205         0.388          3.459          0              0              0
  55  Cabinet         -2.963         0.388          3.459          0              0              0
  56  Cabinet         -2.992         0.388          2.683          0              0              0
  57  Cabinet         -3.352         2.205          1.715          0              0              0
  58  Cabinet         -3.352         2.205          2.653          0              0              0
  59  Cabinet         -2.189         0.388          3.466          0              0              0
  60  Cabinet         -3.365         1.931          3.963          0              0              0
  61  Cabinet         -3.365         1.931          1.056          0              0              0
  62  Cabinet         -2.992         0.388          1.037          0              0              0
  63  StoveBurner     -3.143         0.958          1.971          0              0              0
  64  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  65  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  68  Toaster         -2.654         0.902          4.064          0              180            0
  69  Fridge          -0.439         0.014          3.996          0              0              0
  70  LightSwitch     0.25           1.383          2.085          0              270            0
  71  Window          -1.430         1.338          -0.347         90             0              0
  72  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  73  SinkBasin       -1.802         0.778          3.700          0              0              0
  74  Microwave       -3.484         1.430          2.182          0              90             0
  75  GarbageCan      -1.184         -0.020         3.794          0              270            0
  76  Blinds          -1.404         2.092          -0.296         0              0              0
  77  Stool           -1.373         0.014          1.048          1.214          20.754         0
  78  Faucet          -1.788         0.903          3.931          270            90             0
  79  DiningTable     -1.399         0.010          0.238          0              0              0
  80  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: move forward to the table | STEP 2: pick up a knife on the table | STEP 3: drop the knife on the plate on the table | STEP 4: pick up the plate from the table | STEP 5: turn around and head to the white table | STEP 6: drop the plate on the table | END