Task: Rinse a knife and place it on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.0            0.900          0.75           0              0              0
   1  Pan             0.678          0.964          1.345          0              0              0              84
   2  Pan             2.777          1.018          -0.644         0              0              0              107
   3  Potato          2.715          1.598          -0.447         0              0              0              101
   4  Kettle          0.634          0.912          -0.515         0              0              0              46
   5  Kettle          1.688          0.912          1.299          0              0              0              81
   6  Spatula         2.221          0.926          1.129          0              0              0              81
   7  Spatula         0.193          0.780          -0.596         0              0              0              103
   8  Plate           2.524          1.658          1.468          0              0              0              71
   9  Cup             1.909          0.112          -0.495         0              180            0              92
  10  Cup             -0.017         0.763          -0.651         0              0              0              103
  11  Egg             2.900          1.326          -0.709         0              0              0              101
  12  Knife           2.221          0.944          1.468          0              0              0              81
  13  Knife           2.488          0.944          1.044          0              0              0              81
  14  SoapBottle      -0.246         0.917          1.383          0              0              0              57
  15  SoapBottle      -0.694         0.826          -1.360         0              90             0              105
  16  Tomato          -2.019         0.455          1.459          0              270            0              99
  17  PepperShaker    -0.694         0.817          -1.155         0              90             0              105
  18  PepperShaker    -0.201         1.650          1.546          0              0              0              72
  19  Lettuce         2.754          0.992          1.299          0              0              0              81
  20  Lettuce         1.155          0.992          1.383          0              0              0              81
  21  Mug             2.488          0.906          1.383          0              0              0              81
  22  Mug             1.428          0.968          -0.577         0              0              0              46
  23  SoapBottle      1.213          0.120          1.236          0              0              0              53
  24  Plate           0.825          1.658          -0.771         0              180            0              56
  25  Fork            2.606          0.771          1.198          0              270            0              62
  26  Pot             0.281          0.964          1.347          0              0              0              61
  27  Bread           1.03           0.953          -0.519         0              0              0              46
  28  Egg             -0.157         0.803          -0.762         0              0              0              103
  29  Kettle          2.156          0.912          -0.769         0              0              0              46
  30  Tomato          2.962          1.320          -0.447         0              0              0              101
  31  Cup             -0.983         0.818          -1.360         0              90             0              105
  32  Spatula         0.263          0.780          -0.707         0              90             0              103
  33  Apple           2.769          1.343          -0.453         0              0              0              101
  34  Pan             -0.123         0.114          1.156          0              0              0              57
  35  Lettuce         1.422          0.992          1.468          0              0              0              81
  36  SaltShaker      -0.151         0.908          1.553          0              0              0              57
  37  Knife           -0.151         0.944          1.383          0              270            0              57
  38  Potato          -0.682         0.855          -1.473         0              0              0              105
  39  PepperShaker    1.171          1.650          -0.849         0              180            0              48
  40  ButterKnife     1.155          0.911          1.044          0              0              0              81
  41  Bowl            2.488          0.909          1.214          0              0              0              81
  42  DishSponge      -0.294         0.911          1.214          0              0              0              57
  43  Spoon           -0.785         0.822          -1.183         0              0              0              105
  44  Mug             0.363          1.779          1.488          0              180            0              104
  45  Sink            0.050          0.902          -0.648         0              0              0
  46  CounterTop      1.358          0.947          -0.600         0              0              0
  47  Cabinet         2.986          2.009          1.304          0              0              0
  48  Cabinet         1.022          2.009          -0.607         0              180            0
  49  StoveBurner     0.678          0.923          1.082          0              0              0
  50  Cabinet         2.371          0.402          0.995          0              0              0
  51  Drawer          -0.125         0.792          0.995          0              0              0
  52  StoveBurner     0.281          0.923          1.082          0              0              0
  53  Cabinet         1.025          0.402          0.995          0              0              0
  54  Cabinet         1.023          0.402          -0.296         0              180            0
  55  Cabinet         0.974          2.259          1.304          0              0              0
  56  Cabinet         0.979          2.009          -0.607         0              180            0
  57  CounterTop      -0.158         0.947          1.299          0              0              0
  58  Cabinet         1.725          2.009          1.304          0              0              0
  59  Drawer          2.205          0.792          -0.294         0              180            0
  60  Drawer          1.869          0.792          -0.294         0              180            0
  61  StoveBurner     0.281          0.923          1.347          0              0              0
  62  Drawer          2.512          0.792          0.995          0              0              0
  63  Cabinet         1.673          0.402          -0.296         0              180            0
  64  Drawer          1.524          0.792          0.995          0              0              0
  65  Drawer          1.174          0.792          -0.294         0              180            0
  66  Cabinet         1.720          0.402          0.995          0              0              0
  67  Cabinet         2.348          2.009          -0.607         0              180            0
  68  Cabinet         1.676          2.009          -0.607         0              180            0
  69  Cabinet         1.673          2.009          1.304          0              0              0
  70  Cabinet         2.326          2.009          1.304          0              0              0
  71  Cabinet         2.370          2.009          1.304          0              0              0
  72  Cabinet         0.021          2.009          1.304          0              0              0
  73  Cabinet         1.025          2.009          1.304          0              0              0
  74  Cabinet         -0.274         0.402          0.995          0              0              0
  75  Cabinet         1.675          0.402          0.995          0              0              0
  76  Drawer          1.524          0.792          -0.294         0              180            0
  77  Drawer          2.187          0.792          0.995          0              0              0
  78  Cabinet         2.977          0.402          0.995          0              0              0
  79  Drawer          1.862          0.792          0.995          0              0              0
  80  Cabinet         0.072          2.259          1.304          0              0              0
  81  CounterTop      1.917          0.947          1.299          0              0              0
  82  Cabinet         2.328          0.402          0.995          0              0              0
  83  Cabinet         1.723          2.009          -0.607         0              180            0
  84  StoveBurner     0.677          0.923          1.345          0              0              0
  85  Cabinet         0.355          2.009          -0.607         0              180            0
  86  Cabinet         0.332          2.009          -0.607         0              180            0
  87  Cabinet         2.349          0.402          -0.296         0              180            0
  88  Cabinet         -0.284         2.009          -0.607         0              180            0
  89  Faucet          0.061          0.906          -0.903         0              0              0
  90  Drawer          2.837          0.792          0.995          0              0              0
  91  Drawer          1.175          0.792          0.995          0              0              0
  92  Cabinet         1.723          0.402          -0.296         0              180            0
  93  StoveKnob       0.588          1.093          1.557          287.970        0              0
  94  StoveKnob       0.188          1.093          1.557          287.970        0              0
  95  StoveKnob       0.749          1.093          1.557          287.970        0              0
  96  StoveKnob       0.338          1.093          1.557          287.970        0              0
  97  Toaster         1.934          0.900          -0.717         0              0              0
  98  LightSwitch     -1.662         1.427          1.649          0              180            0
  99  GarbageCan      -1.965         -0.029         1.358          0              270            0
 100  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 101  Fridge          3.043          0.0            -0.709         0              0              0
 102  Window          -2.183         1.501          -0.014         90             270            0
 103  SinkBasin       0.043          0.755          -0.651         0              0              0
 104  Microwave       0.531          1.675          1.437          0              180            0
 105  DiningTable     -0.836         8.404          -1.258         0              0              0
 106  Chair           -1.611         0.002          -1.185         0              45             0
 107
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Turn to the left and go across the room to the far right counter. | STEP 2: Pick up the knife from the center of the counter. | STEP 3: Carry the knife and turn around to the sink. | STEP 4: Place the knife in the sink, turn the water on and off. Pick up the knife. | STEP 5: Hold the knife and take a few steps to the right, to the round table. | STEP 6: Place the knife on the front side of the table. | END