Task: Put the cleaned knife in the drawer under the tomato.

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          -0.5           0              90             0
   1  Kettle          -2.614         0.953          0.524          0              90             0              75
   2  Kettle          1.658          0.913          -1.737         0              0              0              42
   3  Potato          -2.065         0.982          0.704          0              90             0              75
   4  DishSponge      -2.203         0.951          0.704          0              90             0              75
   5  ButterKnife     -2.340         0.952          0.435          0              90             0              75
   6  Pot             1.361          0.962          0.561          0              270            0              47
   7  Fork            -2.614         0.952          0.255          0              90             0              75
   8  Fork            1.907          0.912          0.375          0              0              0              57
   9  Spoon           1.846          0.913          0.540          0              0              0              57
  10  SoapBottle      -1.928         0.950          0.614          0              90             0              75
  11  Bowl            0.209          0.108          -1.509         0              180            0              39
  12  Bowl            -0.634         0.110          -1.508         0              0              0              56
  13  Bread           -2.065         1.035          0.345          0              90             0              75
  14  Knife           1.781          0.937          -1.571         0              90             0              42
  15  Fork            -2.203         0.952          0.255          0              90             0              75
  16  Bowl            0.387          0.109          0.308          0              0              0              53
  17  Kettle          -0.147         0.111          -1.471         0              0              0              51
  18  Cup             -1.872         1.491          -1.763         0              0              0              72
  19  Tomato          0.035          0.961          0.209          0              0              0              41
  20  SoapBottle      0.701          0.918          -1.649         0              270            0              40
  21  Plate           -0.111         0.900          -1.596         0              0              0              42
  22  Pot             1.007          0.962          0.561          0              270            0              44
  23  Spatula         1.785          0.927          0.209          0              0              0              57
  24  PaperTowelRoll  1.412          1.016          -1.489         0              0              0              42
  25  Egg             -0.544         0.947          -1.571         0              0              0              42
  26  Lettuce         -1.791         1.042          0.255          0              90             0              75
  27  SaltShaker      1.289          0.908          -1.903         0              0              0              42
  28  PepperShaker    0.517          0.104          -1.547         0              180            0              39
  29  Apple           -1.079         1.082          -1.704         0              0              0              64
  30  ButterKnife     -2.477         0.952          0.614          0              90             0              75
  31  Potato          -2.222         0.541          -1.720         0              0              0              72
  32  Pan             1.022          0.959          0.288          0              219.190        0              54
  33  DishSponge      -0.362         0.069          0.569          0              90             0              71
  34  Spoon           -1.928         0.953          0.435          0              90             0              75
  35  Mug             0.167          0.907          0.540          0              0              0              41
  36  Cabinet         -0.193         1.688          -1.648         0              180            0
  37  StoveBurner     1.360          0.957          0.293          0              180            0
  38  Drawer          0.499          0.792          0.296          0              0              0
  39  Cabinet         0.095          0.400          -1.352         0              180            0
  40  Sink            0.711          0.817          -1.772         0              270            0
  41  CounterTop      0.280          0.947          0.458          0              0              0
  42  CounterTop      -0.680         0.947          -1.654         0              0              0
  43  Drawer          1.825          0.792          0.296          0              0              0
  44  StoveBurner     1.007          0.957          0.561          0              270            0
  45  Drawer          -0.150         0.792          -1.496         0              0              0
  46  Drawer          -0.586         0.792          -1.496         0              0              0
  47  StoveBurner     1.360          0.957          0.561          0              270            0
  48  Drawer          0.024          0.792          0.296          0              0              0
  49  Cabinet         1.079          0.400          -1.349         0              180            0
  50  Cabinet         1.669          0.402          0.151          0              0              0
  51  Cabinet         0.055          0.402          -1.351         0              0              0
  52  Cabinet         -0.180         0.402          0.151          0              0              0
  53  Cabinet         0.729          0.402          0.151          0              0              0
  54  StoveBurner     1.007          0.957          0.293          0              180            0
  55  Drawer          -1.100         0.792          -1.496         0              0              0
  56  Cabinet         -0.396         0.402          -1.351         0              0              0
  57  CounterTop      1.776          0.947          0.458          0              0              0
  58  Cabinet         1.974          1.688          -1.648         0              180            0
  59  Cabinet         -0.820         0.400          -1.349         0              180            0
  60  Toaster         0.305          0.900          0.552          0              180            0
  61  LightSwitch     -2.756         1.307          -0.987         0              90             0
  62  Window          0.582          1.613          -1.967         90             0              0
  63  Window          1.969          1.5            -0.615         90             270            0
  64  Microwave       -1.037         0.900          -1.723         0              0              0
  65  SinkBasin       0.377          0.765          -1.655         0              270            0
  66  CoffeeMachine   0.618          0.900          0.600          0              180            0
  67  StoveKnob       1.246          0.913          0.118          45             180            0
  68  StoveKnob       1.373          0.913          0.118          45             180            0
  69  StoveKnob       0.995          0.913          0.118          45             180            0
  70  StoveKnob       1.126          0.913          0.118          45             180            0
  71  GarbageCan      -0.368         -0.029         0.539          0              90             0
  72  Fridge          -2.134         0.0            -1.690         0              0              0
  73  Faucet          0.549          1.046          -1.833         0              232.527        0
  74  Stool           -1.475         0.000          0.414          1.233          280.375        0
  75  DiningTable     -2.255         -0.004         0.432          0              0              0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Move to the white rectangular table. | STEP 2: Pick up the knife next to the bread.  | STEP 3: Bring the knife to the sink.  | STEP 4: Wash the knife in the sink with water.  | STEP 5: Bring the knife to the counter by the tomato. | STEP 6: Put the knife in the drawer under the tomato.  | END