Task: Placing a pan with a knife pointed down in it upon a dinner table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          5.25           0              90             0
   1  Pan             1.559          0.988          4.294          0              0              0              58
   2  Pan             1.562          0.988          3.848          0              0              0              54
   3  Potato          1.332          0.931          2.525          0              90             0              83
   4  DishSponge      1.292          0.771          3.360          0              0              0              53
   5  Spoon           1.387          0.891          2.085          0              180            0              83
   6  Spatula         0.257          0.775          6.719          0              45             0              96
   7  Spatula         1.332          0.905          1.983          0              180            0              83
   8  Fork            1.225          0.993          0.440          0              0              0              60
   9  Egg             2.137          1.565          5.876          0              270            0              82
  10  Plate           1.490          0.141          3.291          0              0              0              71
  11  Plate           -0.459         0.993          0.486          0              0              0              60
  12  Knife           0.015          0.789          6.742          0              225            0              96
  13  Knife           0.058          0.789          6.261          0              315            0              96
  14  Tomato          1.135          1.042          4.716          0              0              0              61
  15  Tomato          -0.574         0.809          6.240          0              225            0              96
  16  SoapBottle      -0.334         0.760          6.742          0              135            0              96
  17  Bowl            1.445          2.206          3.747          0              0              0              51
  18  Bowl            1.238          0.139          2.012          0              0              0              49
  19  PepperShaker    0.124          0.139          0.277          0              0              0              69
  20  PepperShaker    1.135          0.987          4.579          0              0              0              61
  21  Lettuce         0.305          0.848          6.604          0              270            0              96
  22  Lettuce         1.403          1.081          0.440          0              0              0              60
  23  Mug             0.897          1.574          0.295          0              0              0              67
  24  Mug             1.135          0.987          1.350          0              0              0              60
  25  Bowl            -0.096         0.759          6.941          0              0              0              96
  26  Bread           1.403          1.062          0.213          0              0              0              60
  27  Egg             2.137          1.565          5.751          0              270            0              82
  28  Knife           -0.487         0.789          6.807          0              315            0              96
  29  Fork            1.292          0.772          3.291          0              0              0              53
  30  Apple           0.221          1.171          0.310          0              0              0              76
  31  Kettle          1.317          0.988          4.294          0              0              0              55
  32  Plate           1.573          0.141          1.938          0              0              0              49
  33  SaltShaker      -0.467         0.755          6.291          0              270            0              96
  34  Lettuce         0.212          0.848          6.196          0              135            0              96
  35  SoapBottle      1.411          1.576          4.572          0              0              0              64
  36  Spatula         -0.466         0.775          6.609          0              135            0              96
  37  PaperTowelRoll  1.225          1.096          3.044          0              0              0              60
  38  Pot             0.734          0.981          0.38           0              0              0              60
  39  Potato          2.051          1.550          5.626          0              270            0              82
  40  ButterKnife     1.225          0.992          0.895          0              0              0              60
  41  PepperShaker    -0.134         1.574          0.295          0              0              0              73
  42  Pan             1.32           0.988          3.848          0              0              0              59
  43  Tomato          -0.224         0.809          6.633          0              135            0              96
  44  DishSponge      -0.621         0.759          6.479          0              270            0              96
  45  Cup             1.140          1.575          0.207          0              0              0              67
  46  Spoon           -0.221         0.761          6.941          0              0              0              96
  47  Mug             1.966          1.510          5.501          0              270            0              82
  48  Cabinet         1.307          2.455          4.360          0              0              0
  49  Cabinet         1.054          0.422          1.710          0              0              0
  50  Drawer          1.280          0.808          4.718          0              0              0
  51  Cabinet         1.307          2.455          3.607          0              0              0
  52  Drawer          0.736          0.802          0.521          0              0              0
  53  Drawer          1.276          0.802          3.291          0              0              0
  54  StoveBurner     1.562          0.982          3.848          0              0              0
  55  StoveBurner     1.317          0.982          4.294          0              0              0
  56  Drawer          -0.482         0.802          0.521          0              0              0
  57  Drawer          0.124          0.802          0.521          0              0              0
  58  StoveBurner     1.559          0.982          4.294          0              0              0
  59  StoveBurner     1.320          0.982          3.848          0              0              0
  60  CounterTop      1.391          1.028          0.897          0              0              0
  61  CounterTop      1.391          1.028          4.716          0              0              0
  62  Cabinet         1.054          0.422          4.548          0              0              0
  63  Cabinet         1.317          2.134          0.517          0              0              0
  64  Cabinet         1.317          2.134          4.889          0              0              0
  65  Cabinet         1.317          2.134          3.095          0              0              0
  66  Cabinet         0.443          0.422          0.743          0              0              0
  67  Cabinet         1.270          2.134          0.434          0              0              0
  68  Cabinet         -0.775         0.422          0.743          0              0              0
  69  Cabinet         -0.168         0.422          0.743          0              0              0
  70  Cabinet         1.317          2.134          1.534          0              0              0
  71  Cabinet         1.054          0.422          2.990          0              0              0
  72  Cabinet         1.054          0.422          2.944          0              0              0
  73  Cabinet         -0.263         2.134          0.434          0              0              0
  74  Cabinet         0.252          2.134          0.434          0              0              0
  75  Sink            1.391          1.006          2.326          0              0              0
  76  Microwave       0.108          0.981          0.262          0              0              0
  77  HousePlant      -0.165         0.826          6.444          0              0              0
  78  CoffeeMachine   1.551          0.982          0.953          0              270            0
  79  Toaster         1.473          0.981          4.715          0              270            0
  80  Window          -2.065         1.916          3.626          90             90             0
  81  Window          1.763          2.007          2.299          90             270            0
  82  Fridge          2.035          0.0            5.625          0              0              0
  83  SinkBasin       1.387          0.880          2.338          0              90             0
  84  GarbageCan      2.001          -0.044         6.503          0              0              0
  85  StoveKnob       1.140          0.934          3.987          45             270            0
  86  StoveKnob       1.140          0.934          4.309          45             270            0
  87  StoveKnob       1.140          0.934          4.140          45             270            0
  88  StoveKnob       1.140          0.934          3.824          45             270            0
  89  Vase            -0.226         0.834          6.993          0              0              0
  90  Vase            2.098          0.043          7.070          0              257.232        0
  91  Vase            -0.594         0.835          6.130          0              225            0
  92  LightSwitch     -2.0           1.549          6.045          0              90             0
  93  Safe            2.046          1.072          7.054          0              257.232        0
  94  Faucet          1.534          1.025          2.371          0              294.391        0
  95  Blinds          1.738          2.563          2.312          0              90             0
  96  DiningTable     -0.156         0.000          6.474          0              0              0
  97  Chair           0.291          0.002          6.142          0              310.162        0
  98  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Go forward a few feet before turning left towards a black, round table | STEP 2: Pick up the sharp knife just to the left of the lettuce | STEP 3: Turn around and move a few feet before turning left towards the stove | STEP 4: Place the knife, point down in the pan behind the kettle sitting on the stove | STEP 5: Pick up the pan with the knife | STEP 6: Turn around and move in between the table and the safe before turning left towards the table. | STEP 7: Put down the pan with the knife to the left of the left most lettuce | END