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

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.914          0.75           0              0              0
   1  Potato          -1.161         0.118          3.820          0              270            0              72
   2  Potato          -1.857         0.821          3.625          0              0              0              70
   3  DishSponge      -3.559         0.915          1.273          0              0              0              49
   4  DishSponge      -1.161         0.086          3.724          0              270            0              72
   5  ButterKnife     -3.559         0.915          1.357          0              0              0              49
   6  ButterKnife     -3.559         0.915          2.844          0              0              0              40
   7  WineBottle      -3.272         0.916          1.607          0              0              0              49
   8  WineBottle      -3.081         0.916          3.172          0              0              0              40
   9  Egg             -1.256         0.121          3.884          0              270            0              72
  10  Cup             -0.556         1.541          4.102          0              180            0              66
  11  Knife           -3.126         0.769          1.202          0              90             0              41
  12  Knife           -3.185         0.769          1.510          0              270            0              41
  13  PepperShaker    -2.126         0.911          4.273          0              0              0              40
  14  Lettuce         -3.272         1.001          3.663          0              0              0              40
  15  Mug             -3.473         1.541          2.068          0              90             0              71
  16  Mug             -1.985         0.784          3.662          0              90             0              70
  17  Egg             -1.666         0.824          3.625          0              0              0              70
  18  Knife           -1.919         0.939          3.485          0              0              0              40
  19  Fork            -3.654         0.916          3.663          0              90             0              40
  20  Bread           -0.089         1.067          3.988          0              180            0              66
  21  Potato          -3.176         0.948          1.106          0              0              0              49
  22  Plate           -3.005         0.904          3.677          0              0              0              40
  23  Pot             -3.144         0.963          2.374          0              0              0              43
  24  Kettle          -3.424         0.966          1.971          0              0              0              48
  25  WineBottle      -3.272         0.916          1.440          0              0              0              49
  26  Bowl            -1.666         0.788          3.737          0              0              0              70
  27  Tomato          -0.790         1.054          4.051          0              180            0              66
  28  Cup             -3.463         0.915          2.844          0              0              0              40
  29  Spatula         -3.654         0.930          1.607          0              270            0              49
  30  SoapBottle      -3.471         1.454          3.729          0              0              0              57
  31  Lettuce         -3.463         1.001          1.440          0              0              0              49
  32  Pan             -3.143         0.966          1.971          0              0              0              60
  33  Apple           -0.790         1.601          4.033          0              180            0              66
  34  SaltShaker      -3.156         0.743          3.083          0              0              0              42
  35  PepperShaker    -3.081         0.912          1.357          0              0              0              49
  36  ButterKnife     -1.840         0.779          3.674          0              0              0              70
  37  DishSponge      -1.565         0.080          3.586          0              0              0              72
  38  Spoon           -1.608         0.916          4.146          0              0              0              40
  39  Mug             -3.176         0.910          1.524          0              0              0              49
  40  CounterTop      -3.381         0.950          3.335          0              0              0
  41  Drawer          -3.121         0.775          1.357          0              0              0
  42  Drawer          -3.121         0.777          2.916          0              0              0
  43  StoveBurner     -3.148         0.958          2.374          0              0              0
  44  Sink            -1.797         0.917          3.660          0              0              0
  45  Cabinet         -1.421         0.388          3.459          0              0              0
  46  StoveBurner     -3.424         0.958          2.374          0              0              0
  47  Cabinet         -3.365         1.931          2.676          0              0              0
  48  StoveBurner     -3.424         0.958          1.971          0              0              0
  49  CounterTop      -3.381         0.951          1.356          0              0              0
  50  Drawer          -3.121         0.781          3.295          0              0              0
  51  Cabinet         -2.205         0.388          3.459          0              0              0
  52  Cabinet         -2.963         0.388          3.459          0              0              0
  53  Cabinet         -2.992         0.388          2.683          0              0              0
  54  Cabinet         -3.352         2.205          1.715          0              0              0
  55  Cabinet         -3.352         2.205          2.653          0              0              0
  56  Cabinet         -2.189         0.388          3.466          0              0              0
  57  Cabinet         -3.365         1.931          3.963          0              0              0
  58  Cabinet         -3.365         1.931          1.056          0              0              0
  59  Cabinet         -2.992         0.388          1.037          0              0              0
  60  StoveBurner     -3.143         0.958          1.971          0              0              0
  61  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  62  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  63  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  64  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  65  Toaster         -2.654         0.902          4.064          0              180            0
  66  Fridge          -0.439         0.014          3.996          0              0              0
  67  LightSwitch     0.25           1.383          2.085          0              270            0
  68  Window          -1.430         1.338          -0.347         90             0              0
  69  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  70  SinkBasin       -1.802         0.778          3.700          0              0              0
  71  Microwave       -3.484         1.430          2.182          0              90             0
  72  GarbageCan      -1.184         -0.020         3.794          0              270            0
  73  Blinds          -1.404         2.092          -0.296         0              0              0
  74  Stool           -1.373         0.014          1.048          1.214          20.754         0
  75  Faucet          -1.788         0.903          3.931          270            90             0
  76  DiningTable     -1.399         0.010          0.238          0              0              0
  77  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: turn left and head to the table | STEP 2: pick up a knife from the table | STEP 3: turn around and head for the gas  | STEP 4: place the knife on the plate on the gas | STEP 5: pick up the plate from the gas | STEP 6: move left towards the table | STEP 7: drop the plate on the table | END