Task: Clean knife, put away by microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           1.124          -0.25          0              0              0
   1  Pan             -0.630         1.331          -3.301         0              180            0              52
   2  Potato          -1.165         1.362          -3.092         0              0              0              55
   3  Potato          -1.954         1.090          -0.633         0              180            0              73
   4  WineBottle      0.900          0.345          -2.061         0              180            0              54
   5  WineBottle      1.129          0.345          -1.751         0              180            0              54
   6  Kettle          -0.239         1.331          -3.301         0              180            0              50
   7  Kettle          -1.380         1.324          -2.760         0              0              0              55
   8  Fork            -1.920         1.323          -3.241         0              0              0              55
   9  Fork            -1.401         1.323          0.445          0              0              0              55
  10  Spoon           0.983          0.743          0.682          0              0              0              83
  11  Spatula         0.420          1.337          -2.900         0              0              0              55
  12  Spatula         0.766          1.337          -2.053         0              0              0              55
  13  Cup             0.977          1.672          1.545          0              270            0              68
  14  Plate           -1.790         1.323          1.744          0              0              0              55
  15  Knife           -1.737         1.358          -0.911         0              180            0              62
  16  Knife           0.636          1.352          -1.312         0              0              0              55
  17  Tomato          1.285          1.356          -3.164         0              0              0              55
  18  Tomato          -1.954         1.084          -0.542         0              0              0              73
  19  Bowl            1.155          1.321          -2.053         0              0              0              55
  20  SaltShaker      -1.727         0.338          -1.863         0              0              0              51
  21  SaltShaker      0.778          1.202          1.222          0              0              0              80
  22  PepperShaker    0.492          1.318          -2.678         0              0              0              55
  23  Mug             -1.602         0.338          -2.162         0              0              0              51
  24  Mug             -2.179         1.318          0.770          0              0              0              55
  25  Apple           0.938          1.806          2.230          0              270            0              68
  26  Apple           -1.610         0.329          2.234          0              270            0              70
  27  Bread           -1.513         1.380          0.662          0              0              0              55
  28  Pot             -0.125         1.332          -2.973         0              0              0              63
  29  Knife           -1.826         1.358          -1.117         0              180            0              62
  30  Bowl            1.021          1.522          1.786          0              270            0              68
  31  Potato          1.072          1.564          1.539          0              270            0              68
  32  SoapBottle      1.285          1.323          -2.424         0              0              0              55
  33  Fork            0.492          1.323          -3.121         0              0              0              55
  34  Cup             -1.401         1.320          1.744          0              0              0              55
  35  Kettle          0.506          1.324          -2.424         0              0              0              55
  36  Egg             -1.826         1.373          -1.049         0              0              0              62
  37  Pan             -1.881         0.327          -2.035         0              0              0              51
  38  SaltShaker      -1.518         0.417          -1.086         0              0              0              61
  39  WineBottle      -1.657         0.281          2.110          0              270            0              70
  40  Lettuce         0.492          1.399          -3.011         0              0              0              55
  41  Spatula         1.155          1.337          -0.942         0              0              0              55
  42  PaperTowelRoll  0.861          1.312          1.254          0              0              0              80
  43  Tomato          0.933          1.980          1.494          0              270            0              68
  44  Plate           0.900          0.345          -1.854         0              180            0              54
  45  PepperShaker    -1.884         0.338          0.211          0              0              0              53
  46  DishSponge      -1.750         0.343          1.317          0              0              0              56
  47  Spoon           -1.687         0.423          -1.348         0              0              0              61
  48  Apple           0.957          1.995          1.730          0              270            0              68
  49  Mug             1.027          1.202          1.238          0              0              0              80
  50  StoveBurner     -0.239         1.325          -3.301         0              180            0
  51  Cabinet         -1.461         0.775          -2.002         0              0              0
  52  StoveBurner     -0.630         1.325          -3.301         0              180            0
  53  Cabinet         -1.461         0.775          0.470          0              0              0
  54  Cabinet         0.578          0.776          -2.054         0              0              0
  55  CounterTop      -1.809         1.358          1.182          0              0              0
  56  Cabinet         -1.461         0.775          1.310          0              0              0
  57  Faucet          -2.063         1.362          -0.726         0              39.391         0
  58  StoveBurner     -0.749         1.325          -2.973         0              0              0
  59  Drawer          -1.610         0.681          -0.430         0              0              0
  60  Window          -2.566         1.799          -0.822         270            0              0
  61  Drawer          -1.610         0.681          -1.217         0              0              0
  62  Sink            -1.990         1.143          -0.975         0              0              0
  63  StoveBurner     -0.125         1.325          -2.973         0              0              0
  64  StoveKnob       -0.185         1.338          -2.741         0              270            180
  65  StoveKnob       -0.336         1.338          -2.741         0              270            180
  66  StoveKnob       -0.569         1.338          -2.741         0              270            180
  67  StoveKnob       -0.707         1.338          -2.741         0              270            180
  68  Fridge          1.013          0.227          1.917          0              270            0
  69  Microwave       0.994          1.310          -2.163         0              270            0
  70  GarbageCan      -1.633         0.212          2.192          0              270            0
  71  LightSwitch     1.386          1.565          -0.657         0              270            0
  72  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  73  SinkBasin       -1.835         1.039          -0.542         0              0              0
  74  ButterKnife     0.873          0.468          0.651          0              0              0
  75  Toaster         -1.885         1.310          -2.512         0              90             0
  76  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  77  Drawer          0.647          1.061          0.680          0              270            0
  78  Drawer          0.648          1.061          1.020          0              270            0
  79  Drawer          0.648          0.843          1.020          0              270            0
  80  SideTable       0.975          0.220          0.869          0              270            0
  81  Drawer          0.648          0.602          0.680          0              270            0
  82  Drawer          0.648          0.596          1.020          0              270            0
  83  Drawer          0.648          0.843          0.680          0              270            0
  84  Stool           0.606          0.222          -1.084         1.233          280.489        0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Go to cutting area to right of the sink | STEP 2: Pick up knife on the left | STEP 3: Go to sink on the right | STEP 4: Place knife in sink, turn on water, pick up knife out of sink | STEP 5: Go to counter with microwave | STEP 6: Place knife on counter | END