Task: Gather knife, plate to be placed in a different place 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          0.899          1.75           0              0              0
   1  Pencil          -3.539         0.747          5.192          0              90             0              61
   2  Pencil          -1.610         0.923          1.648          0              0              0              68
   3  Potato          -4.411         0.956          5.159          0              90             0              70
   4  ButterKnife     -4.172         0.923          2.766          0              0              0              70
   5  ButterKnife     -4.108         0.923          5.418          0              90             0              70
   6  WineBottle      -4.312         0.924          2.649          0              0              0              70
   7  Fork            -4.184         0.924          4.900          0              90             0              70
   8  Egg             -2.635         1.582          1.666          0              0              0              100
   9  Egg             -3.675         0.104          6.498          0              270            0              96
  10  Plate           -4.214         1.457          1.966          0              45             0              71
  11  Knife           -3.255         0.953          5.336          0              180            0              70
  12  SoapBottle      -3.839         0.079          5.271          0              90             0              84
  13  Tomato          -4.031         0.980          1.799          0              0              0              70
  14  SaltShaker      -3.264         0.743          5.221          0              180            0              82
  15  SaltShaker      -0.562         0.742          4.538          0              270            0              60
  16  PepperShaker    -3.340         0.919          1.951          0              0              0              76
  17  Lettuce         -3.494         1.018          5.259          0              90             0              70
  18  Mug             -4.271         0.785          3.410          0              270            0              102
  19  Apple           -4.478         0.976          3.082          0              0              0              70
  20  Egg             -0.565         0.960          5.273          0              0              0              55
  21  Apple           -1.943         0.976          1.875          0              0              0              52
  22  Knife           -1.860         0.953          1.8            0              90             0              52
  23  Potato          -3.255         0.956          5.489          0              90             0              70
  24  Fork            -0.181         0.925          4.615          0              0              0              55
  25  Bowl            -0.401         1.067          3.726          0              270            0              103
  26  Plate           -3.984         1.459          5.438          0              90             0              74
  27  Lettuce         -4.196         0.886          3.222          0              0              0              102
  28  Bread           -1.693         1.003          1.8            0              0              0              52
  29  Tomato          -0.383         1.392          3.479          0              270            0              103
  30  WineBottle      -3.748         0.069          6.292          0              270            0              96
  31  Spatula         -0.181         0.940          5.273          0              0              0              55
  32  PaperTowelRoll  -2.109         1.027          1.724          0              0              0              52
  33  Cup             -4.108         0.922          3.863          0              90             0              102
  34  Pencil          -1.777         0.923          1.951          0              0              0              68
  35  Pan             -2.469         0.930          1.712          0              270            0              85
  36  Pot             -0.258         0.926          4.944          0              90             0              55
  37  SaltShaker      -4.154         0.741          4.585          0              90             0              77
  38  SoapBottle      -4.172         0.923          2.416          0              0              0              70
  39  PepperShaker    -2.093         0.742          1.896          0              0              0              68
  40  ButterKnife     -4.26          0.923          4.640          0              90             0              70
  41  DishSponge      -1.693         0.923          2.026          0              0              0              52
  42  Spoon           -1.777         0.924          1.648          0              0              0              52
  43  Mug             -0.218         1.330          3.355          0              270            0              103
  44  Cabinet         -3.203         1.931          1.777          0              0              0
  45  Cabinet         -3.187         0.390          2.089          0              0              0
  46  Cabinet         -0.637         0.387          6.882          0              180            0
  47  Drawer          -3.797         0.781          1.961          0              0              0
  48  Cabinet         -3.036         0.387          5.029          0              90             0
  49  Drawer          -0.509         0.775          5.268          0              270            0
  50  Drawer          -4.125         0.798          2.499          0              0              0
  51  Cabinet         -0.331         2.249          4.308          0              180            0
  52  CounterTop      -1.872         0.958          1.799          0              0              0
  53  StoveBurner     -2.924         0.924          2.012          0              0              0
  54  Cabinet         -0.331         2.249          6.806          0              180            0
  55  CounterTop      -0.345         0.960          5.603          0              0              0
  56  Cabinet         -3.039         1.935          5.321          0              90             0
  57  Cabinet         -3.922         0.397          2.088          0              0              0
  58  StoveBurner     -2.467         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          5.505          0              180            0
  60  Drawer          -0.509         0.775          4.617          0              270            0
  61  Drawer          -3.509         0.777          5.157          0              180            0
  62  Cabinet         -3.961         0.388          2.878          0              0              0
  63  Cabinet         -3.961         0.388          4.342          0              0              0
  64  Cabinet         -0.637         0.387          5.582          0              180            0
  65  Cabinet         -0.637         0.388          4.299          0              180            0
  66  Cabinet         -0.637         0.388          5.599          0              180            0
  67  StoveBurner     -2.924         0.924          1.712          0              180            0
  68  Drawer          -1.859         0.775          1.961          0              0              0
  69  Cabinet         -0.331         2.249          5.609          0              180            0
  70  CounterTop      -4.260         0.958          4.943          0              90             0
  71  Cabinet         -4.284         1.931          2.226          0              0              0
  72  Cabinet         -0.331         2.249          3.010          0              180            0
  73  Drawer          -3.801         0.777          5.157          0              180            0
  74  Cabinet         -4.112         1.935          5.321          0              90             0
  75  Cabinet         -3.968         0.388          3.662          0              0              0
  76  Drawer          -3.418         0.777          1.961          0              0              0
  77  Drawer          -4.090         0.777          4.661          0              90             0
  78  Faucet          -4.441         0.909          3.288          270            0              0
  79  Cabinet         -0.331         2.249          4.207          0              180            0
  80  Cabinet         -3.961         0.388          2.119          0              0              0
  81  Drawer          -0.509         0.775          5.920          0              270            0
  82  Drawer          -3.193         0.777          5.157          0              180            0
  83  Cabinet         -3.968         0.388          2.894          0              0              0
  84  Cabinet         -3.667         0.387          5.029          0              90             0
  85  StoveBurner     -2.469         0.924          1.712          0              270            0
  86  Cabinet         -1.539         0.388          2.090          0              0              0
  87  Sink            -4.190         0.921          3.279          0              0              0
  88  Cabinet         -3.641         0.387          5.029          0              90             0
  89  Cabinet         -1.583         1.931          1.777          0              0              0
  90  Drawer          -0.509         0.775          6.568          0              270            0
  91  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  92  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  96  GarbageCan      -3.711         -0.030         6.376          0              270            0
  97  Toaster         -3.578         0.912          1.763          0              0              0
  98  Curtains        -4.522         2.252          3.391          90             90             0
  99  Window          -4.868         1.629          3.309          90             270            0
 100  Microwave       -2.693         1.430          1.689          0              0              0
 101  LightSwitch     -1.588         1.169          1.506          0              0              0
 102  SinkBasin       -4.196         0.780          3.276          0              270            0
 103  Fridge          -0.324         -0.001         3.602          0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Move across the room to the counter top with the lettuce and potato.  The counter top forms a corner here.  | STEP 2: Pick up the knife that is on the counter.  | STEP 3: Open the cupboard door on the right hand side above the counter.  | STEP 4: Place the knife on the blue plate.  | STEP 5: Pick up the plate and knife that are on the shelf. Close the cupboard door.  | STEP 6: Turn around and move toward the counter top above the dishwasher. | STEP 7: Place the plate and knife on the  counter near the right side of the dishwasher. | END