Task: place a plate down on the counter with a knife on the plate

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.899          6.0            0              270            0
   1  Pan             -2.467         0.930          2.012          0              0              0              60
   2  DishSponge      -4.438         0.923          3.665          0              0              0              72
   3  ButterKnife     -4.172         0.923          2.649          0              0              0              72
   4  ButterKnife     -2.026         0.923          1.951          0              0              0              54
   5  ButterKnife     -1.777         0.923          2.026          0              0              0              54
   6  WineBottle      -2.109         0.924          2.026          0              0              0              54
   7  WineBottle      -4.103         1.457          1.764          0              45             0              73
   8  Pot             -0.348         1.071          3.355          0              180            0              105
   9  Spoon           -4.159         0.792          3.222          0              270            0              104
  10  Spoon           -1.860         0.924          1.875          0              90             0              54
  11  Egg             -3.639         0.104          6.457          0              270            0              98
  12  SoapBottle      -0.488         0.924          5.273          0              0              0              57
  13  SoapBottle      -0.104         0.924          5.273          0              0              0              57
  14  Tomato          -0.259         1.637          3.289          0              270            0              105
  15  Tomato          -0.218         1.392          3.974          0              270            0              105
  16  PepperShaker    -0.181         0.921          5.273          0              0              0              57
  17  PepperShaker    -4.154         0.743          4.809          0              90             0              79
  18  Lettuce         -1.943         1.018          1.875          0              0              0              54
  19  Bread           -4.204         1.003          1.951          0              0              0              72
  20  Apple           -3.639         0.122          6.292          0              270            0              98
  21  Apple           -4.233         0.844          3.097          0              270            0              104
  22  Egg             -4.121         0.826          3.472          0              270            0              104
  23  Apple           -4.196         0.844          3.285          0              270            0              104
  24  Knife           -0.258         0.954          5.273          0              180            0              57
  25  Potato          -0.488         0.958          4.944          0              0              0              57
  26  Fork            -3.613         0.924          5.182          0              90             0              72
  27  Bowl            -3.239         0.076          5.155          0              90             0              50
  28  Plate           -0.401         1.071          3.850          0              270            0              105
  29  Lettuce         -4.335         1.018          4.381          0              90             0              72
  30  Bread           -0.334         1.004          5.273          0              0              0              57
  31  Tomato          -3.748         0.125          6.457          0              270            0              98
  32  WineBottle      -4.486         0.924          5.159          0              90             0              72
  33  Spatula         -0.411         0.940          5.932          0              0              0              57
  34  PaperTowelRoll  -4.451         1.027          2.649          0              0              0              72
  35  Cup             -0.258         0.923          4.615          0              0              0              57
  36  Pencil          -3.733         0.923          5.489          0              90             0              72
  37  Pan             -0.301         1.335          3.479          0              0              0              105
  38  Pot             -2.924         0.930          1.712          0              180            0              69
  39  SaltShaker      -3.568         0.743          5.221          0              180            0              63
  40  SoapBottle      -4.128         0.080          3.419          0              0              0              77
  41  PepperShaker    -0.261         2.129          3.253          0              180            0              74
  42  ButterKnife     -0.411         0.925          5.603          0              0              0              57
  43  DishSponge      -3.768         0.745          1.956          0              0              0              49
  44  Spoon           -0.258         0.926          4.944          0              0              0              57
  45  Mug             -1.860         0.918          1.573          0              0              0              54
  46  Cabinet         -3.203         1.931          1.777          0              0              0
  47  Cabinet         -3.187         0.390          2.089          0              0              0
  48  Cabinet         -0.637         0.387          6.882          0              180            0
  49  Drawer          -3.797         0.781          1.961          0              0              0
  50  Cabinet         -3.036         0.387          5.029          0              90             0
  51  Drawer          -0.509         0.775          5.268          0              270            0
  52  Drawer          -4.125         0.798          2.499          0              0              0
  53  Cabinet         -0.331         2.249          4.308          0              180            0
  54  CounterTop      -1.872         0.958          1.799          0              0              0
  55  StoveBurner     -2.924         0.924          2.012          0              0              0
  56  Cabinet         -0.331         2.249          6.806          0              180            0
  57  CounterTop      -0.345         0.960          5.603          0              0              0
  58  Cabinet         -3.039         1.935          5.321          0              90             0
  59  Cabinet         -3.922         0.397          2.088          0              0              0
  60  StoveBurner     -2.467         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          5.505          0              180            0
  62  Drawer          -0.509         0.775          4.617          0              270            0
  63  Drawer          -3.509         0.777          5.157          0              180            0
  64  Cabinet         -3.961         0.388          2.878          0              0              0
  65  Cabinet         -3.961         0.388          4.342          0              0              0
  66  Cabinet         -0.637         0.387          5.582          0              180            0
  67  Cabinet         -0.637         0.388          4.299          0              180            0
  68  Cabinet         -0.637         0.388          5.599          0              180            0
  69  StoveBurner     -2.924         0.924          1.712          0              180            0
  70  Drawer          -1.859         0.775          1.961          0              0              0
  71  Cabinet         -0.331         2.249          5.609          0              180            0
  72  CounterTop      -4.260         0.958          4.943          0              90             0
  73  Cabinet         -4.284         1.931          2.226          0              0              0
  74  Cabinet         -0.331         2.249          3.010          0              180            0
  75  Drawer          -3.801         0.777          5.157          0              180            0
  76  Cabinet         -4.112         1.935          5.321          0              90             0
  77  Cabinet         -3.968         0.388          3.662          0              0              0
  78  Drawer          -3.418         0.777          1.961          0              0              0
  79  Drawer          -4.090         0.777          4.661          0              90             0
  80  Faucet          -4.441         0.909          3.288          270            0              0
  81  Cabinet         -0.331         2.249          4.207          0              180            0
  82  Cabinet         -3.961         0.388          2.119          0              0              0
  83  Drawer          -0.509         0.775          5.920          0              270            0
  84  Drawer          -3.193         0.777          5.157          0              180            0
  85  Cabinet         -3.968         0.388          2.894          0              0              0
  86  Cabinet         -3.667         0.387          5.029          0              90             0
  87  StoveBurner     -2.469         0.924          1.712          0              270            0
  88  Cabinet         -1.539         0.388          2.090          0              0              0
  89  Sink            -4.190         0.921          3.279          0              0              0
  90  Cabinet         -3.641         0.387          5.029          0              90             0
  91  Cabinet         -1.583         1.931          1.777          0              0              0
  92  Drawer          -0.509         0.775          6.568          0              270            0
  93  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  94  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  98  GarbageCan      -3.711         -0.030         6.376          0              270            0
  99  Toaster         -3.578         0.912          1.763          0              0              0
 100  Curtains        -4.522         2.252          3.391          90             90             0
 101  Window          -4.868         1.629          3.309          90             270            0
 102  Microwave       -2.693         1.430          1.689          0              0              0
 103  LightSwitch     -1.588         1.169          1.506          0              0              0
 104  SinkBasin       -4.196         0.780          3.276          0              270            0
 105  Fridge          -0.324         -0.001         3.602          0              0              0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: turn around and walk over to the kitchen counter ahead | STEP 2: grab a butter knife off of the counter there | STEP 3: turn right and walk to the fridge at the end of the kitchen counters on the left | STEP 4: place the knife on a plate inside the fridge | STEP 5: grab the plate out from the fridge | STEP 6: move left a bit and then face the kitchen counter on your right | STEP 7: place the plate down on the counter there | END