Task: Wash knife and return to shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.869          -3.25          0              270            0
   1  Potato          0.883          0.805          -0.570         0              270            0              67
   2  Potato          0.961          0.698          0.508          0              0              0              49
   3  DishSponge      -1.187         0.051          -3.611         0              270            0              59
   4  DishSponge      0.769          0.760          -0.188         0              0              0              43
   5  ButterKnife     -1.056         0.900          1.187          0              270            0              70
   6  ButterKnife     -1.803         0.701          -1.416         0              0              0              80
   7  Spoon           0.799          0.773          -0.570         0              270            0              67
   8  Fork            -0.654         0.901          0.843          0              270            0              70
   9  Egg             -1.843         0.836          -3.771         0              0              0              66
  10  Cup             0.785          1.373          -2.113         0              270            0              64
  11  Plate           0.732          0.019          -0.119         0              0              0              54
  12  Knife           0.721          0.687          0.448          0              90             0              49
  13  Knife           -0.849         0.915          1.108          346.924        98.457         1.943          70
  14  Tomato          0.824          0.514          -1.802         0              270            0              64
  15  SoapBottle      -0.453         0.899          0.758          0              270            0              70
  16  SoapBottle      0.661          0.664          0.508          0              0              0              49
  17  SaltShaker      0.858          1.460          0.039          0              0              0              55
  18  Bread           -0.252         0.944          1.015          0              270            0              70
  19  Lettuce         -0.051         0.987          0.843          0              270            0              70
  20  Mug             0.669          0.460          -2.113         0              270            0              64
  21  Apple           0.781          0.718          0.387          0              0              0              49
  22  Pot             -1.555         0.930          1.049          0              0              0              53
  23  Plate           0.149          0.904          1.101          0              270            0              70
  24  Fork            0.769          0.760          -0.061         0              0              0              43
  25  SoapBottle      -1.334         0.051          -3.611         0              270            0              59
  26  Apple           0.661          0.718          0.387          0              0              0              49
  27  Pan             0.740          -0.007         -0.596         0              0              0              47
  28  Egg             -1.556         0.733          -3.614         0              0              0              71
  29  Spatula         0.574          0.775          -0.188         0              90             0              43
  30  Potato          -1.949         0.832          -3.673         0              0              0              66
  31  Cup             -1.970         0.700          -1.199         0              0              0              80
  32  SaltShaker      -0.855         0.889          1.272          0              270            0              70
  33  PepperShaker    0.898          0.012          -0.250         0              0              0              54
  34  ButterKnife     0.754          0.755          -0.743         0              45             0              67
  35  DishSponge      0.621          0.015          -0.768         0              0              0              47
  36  Bread           -0.815         0.968          0.945          0              15.788         270            70
  37  Lettuce         0.757          0.859          -0.735         0              270            0              67
  38  Tomato          0.746          1.423          -1.725         0              270            0              64
  39  Spoon           0.901          0.666          0.630          0              0              0              49
  40  Knife           -0.252         0.923          1.272          0              0              0              70
  41  Mug             0.746          0.660          -1.958         0              270            0              64
  42  Bowl            0.949          1.462          0.473          0              0              0              56
  43  Drawer          0.706          0.766          -0.125         0              0              0
  44  CounterTop      0.792          0.919          -0.108         0              0              0
  45  Mirror          1.093          1.602          -0.643         0              0              0
  46  StoveBurner     -2.096         0.890          0.785          0              0              0
  47  Cabinet         0.507          0.345          -0.426         0              0              0
  48  StoveBurner     -1.552         0.890          0.785          0              0              0
  49  SideTable       0.770          -0.030         0.443          0              0              0
  50  Sink            0.753          0.882          -0.680         0              0              0
  51  StoveBurner     -2.096         0.890          1.049          0              0              0
  52  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  53  StoveBurner     -1.554         0.890          1.049          0              0              0
  54  Cabinet         0.507          0.345          0.156          0              0              0
  55  Cabinet         0.717          1.822          -0.398         0              0              0
  56  Cabinet         0.717          1.822          0.669          0              0              0
  57  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  58  Toaster         -0.522         0.886          1.081          0              180            0
  59  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  60  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  61  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  62  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  63  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  64  Fridge          0.680          -0.031         -1.957         0              0              0
  65  Window          -2.424         1.639          -2.453         90             270            0
  66  Microwave       -1.994         0.690          -3.651         0              0              0
  67  SinkBasin       0.757          0.762          -0.688         0              270            0
  68  LightSwitch     1.102          1.368          -3.737         0              270            0
  69  Shelf           -0.350         0.124          0.857          0              0              0
  70  DiningTable     -0.350         -0.025         0.857          0              0              0
  71  DiningTable     -1.909         -0.032         -3.507         0              0              0
  72  Blinds          -2.343         2.151          -2.437         0              270            0
  73  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  74  AluminumFoil    0.751          0.225          0.287          0              0              0
  75  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  76  Shelf           0.771          0.226          0.445          0              0              0
  77  Shelf           0.771          0.456          0.446          0              0              0
  78  Faucet          1.025          0.873          -0.678         270            180            0
  79  Shelf           -0.350         0.497          0.857          0              0              0
  80  DiningTable     -1.929         -0.035         -1.398         0              90             0
  81  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn around and walk to table.  Turn right and face shelves with apples on it. | STEP 2: Pick up knife off table, from between two apples. | STEP 3: Turn right, then turn left to face sink.   | STEP 4: Place knife in sink, to the left of the pear and potato, diagonal on the spoon.  Turn water on, turn water off, drain water.  Pick up knife. | STEP 5: Move back to shelf at the end of the counter by making three right hand turns. | STEP 6: Place knife on table, lying across both apples. | END