Task: put and plate with a knife 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           -1.25          0.901          -1.0           0              0              0
   1  ButterKnife     -0.176         0.916          -1.555         0              0              0              67
   2  ButterKnife     -3.167         0.913          -3.804         0              0              0              40
   3  Pot             -0.160         0.916          -3.012         0              90             0              40
   4  Fork            -0.382         0.746          -3.079         0              90             0              70
   5  Egg             -2.865         0.752          -0.683         0              270            0              84
   6  Egg             -0.220         1.048          -0.900         0              270            0              77
   7  Cup             -2.676         0.717          -0.508         0              135            0              84
   8  Cup             -0.419         0.916          -1.309         0              0              0              67
   9  Knife           -2.608         0.746          -0.841         0              135            0              84
  10  Tomato          -0.500         0.965          -1.616         0              0              0              67
  11  Tomato          -3.079         1.063          -2.064         0              90             0              81
  12  Bowl            -3.182         0.638          -2.002         0              90             0              81
  13  Bowl            -3.226         1.865          -2.029         0              0              0              50
  14  SaltShaker      -3.300         0.710          -0.665         0              225            0              84
  15  SaltShaker      -0.854         0.910          -3.878         0              0              0              40
  16  Mug             -2.930         0.763          -0.358         0              135            0              80
  17  Apple           -3.234         1.056          -1.941         0              90             0              81
  18  Apple           -3.079         1.056          -1.817         0              90             0              81
  19  Pot             -0.165         0.975          -2.030         0              180            0              71
  20  Egg             -1.058         0.949          -3.729         0              0              0              40
  21  Cup             -3.199         0.717          -0.564         0              225            0              84
  22  Bread           -3.225         0.954          -3.026         0              0              0              40
  23  Fork            -3.309         0.914          -3.327         0              0              0              40
  24  Pan             -0.394         0.973          -2.414         0              0              0              65
  25  Potato          -1.707         0.834          -3.747         0              0              0              82
  26  Lettuce         -1.324         0.988          -3.759         1.589          253.806        357.401        40
  27  Tomato          -3.140         0.963          -2.825         0              0              0              40
  28  Apple           -1.983         0.833          -3.747         0              0              0              82
  29  SoapBottle      -3.127         1.867          -2.277         0              0              0              49
  30  Spatula         -0.500         0.761          -0.685         0              90             0              66
  31  SaltShaker      -2.516         1.291          -4.005         0              0              0              53
  32  Knife           -2.629         0.946          -3.655         0              0              0              40
  33  PepperShaker    -0.382         0.743          -0.837         0              0              0              66
  34  ButterKnife     -2.664         0.717          -0.697         0              135            0              84
  35  Plate           -2.740         0.715          -0.069         0              0              0              84
  36  DishSponge      -2.564         0.713          -0.194         0              225            0              84
  37  Spoon           -2.723         0.714          -0.621         0              0              0              84
  38  Mug             -3.130         1.393          -2.187         0              90             0              81
  39  Bowl            -0.650         0.911          -3.804         0              0              0              40
  40  CounterTop      -1.789         0.949          -3.803         0              0              0
  41  Cabinet         -0.577         0.388          -3.476         0              0              0
  42  Cabinet         -0.605         0.388          -3.511         0              0              0
  43  Cabinet         -2.976         0.388          -3.201         0              0              0
  44  Cabinet         -0.577         0.388          -0.447         0              0              0
  45  Cabinet         -0.577         0.388          -1.725         0              0              0
  46  Cabinet         -0.226         1.803          -1.743         0              0              0
  47  Cabinet         -0.228         1.799          -0.447         0              0              0
  48  Cabinet         -6.010         1.139          -6.019         0              0              0
  49  Cabinet         -3.022         2.098          -2.681         0              0              0
  50  Cabinet         -3.022         2.098          -1.743         0              0              0
  51  Cabinet         -0.577         0.388          -2.736         0              0              0
  52  Cabinet         -3.232         1.803          -3.343         0              0              0
  53  Cabinet         -2.811         1.810          -3.764         0              0              0
  54  Cabinet         -1.233         1.810          -3.764         0              0              0
  55  Cabinet         -1.364         0.388          -3.511         0              0              0
  56  Cabinet         -1.380         0.388          -3.511         0              0              0
  57  Cabinet         -0.226         1.803          -2.725         0              0              0
  58  Cabinet         -0.236         2.098          -1.767         0              0              0
  59  Cabinet         -0.236         2.098          -2.705         0              0              0
  60  Cabinet         -0.193         1.210          -4.239         0              0              0
  61  Cabinet         -2.148         0.388          -3.511         0              0              0
  62  Drawer          -3.104         0.797          -2.968         0              0              0
  63  Drawer          -0.449         0.797          -1.410         0              0              0
  64  Sink            -1.786         0.902          -3.748         0              0              0
  65  StoveBurner     -0.376         0.936          -2.451         0              0              0
  66  Drawer          -0.449         0.797          -0.762         0              0              0
  67  CounterTop      -0.268         0.951          -1.089         0              0              0
  68  Drawer          -0.449         0.797          -3.348         0              0              0
  69  StoveBurner     -0.376         0.936          -2.031         0              180            0
  70  Drawer          -0.449         0.797          -2.968         0              0              0
  71  StoveBurner     -0.165         0.936          -2.030         0              180            0
  72  StoveBurner     -0.165         0.936          -2.450         0              0              0
  73  StoveKnob       -0.568         0.903          -2.313         45             270            0
  74  StoveKnob       -0.568         0.903          -2.470         45             270            0
  75  StoveKnob       -0.568         0.903          -2.166         45             270            0
  76  StoveKnob       -0.568         0.903          -2.003         45             270            0
  77  Microwave       -0.143         0.903          -0.908         0              270            0
  78  LightSwitch     -1.108         1.457          0.338          0              180            0
  79  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  80  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  81  Fridge          -3.188         0.0            -2.184         0              0              0
  82  SinkBasin       -1.786         0.779          -3.747         0              0              0
  83  Toaster         -0.230         0.903          -3.406         0              270            0
  84  DiningTable     -2.800         0.003          -0.505         0              0              0
  85  Chair           -3.044         0.003          -1.223         0              32.194         0
  86  Faucet          -1.791         1.136          -3.913         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: turn left and move to the round table | STEP 2: pick up that silver butter knife from the table | STEP 3: move slightly to the right of the table | STEP 4: put the knife on the silver plate in front of the coffee machine | STEP 5: pick up the plate with the knife on it | STEP 6: turn around and move towards the counter with the microwave | STEP 7: put the plate with the knife on the counter to the right of the microwave towards the back of the counter | END