Task: Put the clean knife on the shelves

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          0.869          -2.75          0              0              0
   1  Potato          0.841          0.697          0.326          0              0              0              46
   2  DishSponge      0.621          0.015          -0.833         0              0              0              44
   3  DishSponge      0.812          1.463          -0.146         0              0              0              52
   4  ButterKnife     0.729          0.883          -0.245         0              0              0              41
   5  Spatula         0.769          0.774          0.002          0              270            0              40
   6  Fork            0.866          0.760          -0.252         0              90             0              40
   7  Pot             -2.097         0.930          0.785          0              0              0              43
   8  Egg             -1.843         0.836          -3.607         0              0              0              63
   9  Egg             -0.855         0.937          1.015          0              270            0              67
  10  Cup             0.961          0.664          0.630          0              0              0              46
  11  SoapBottle      -1.297         0.051          -3.574         0              270            0              56
  12  SoapBottle      -1.635         0.701          -1.524         0              0              0              77
  13  Bowl            0.858          1.462          0.473          0              0              0              53
  14  PepperShaker    1.040          1.460          -0.269         0              0              0              52
  15  PepperShaker    -1.803         0.698          -1.524         0              0              0              77
  16  SaltShaker      -1.970         0.698          -1.199         0              0              0              77
  17  Lettuce         0.746          1.461          -2.035         0              270            0              61
  18  Lettuce         0.785          0.751          -2.035         0              270            0              61
  19  Pot             -1.552         0.930          0.785          0              0              0              45
  20  Plate           -2.023         0.692          -1.447         0              0              0              77
  21  Fork            0.149          0.901          1.015          0              270            0              67
  22  SoapBottle      0.842          0.014          0.011          0              0              0              51
  23  Apple           0.841          0.826          -0.845         0              0              0              64
  24  Pan             -2.054         0.700          -1.091         0              180            0              77
  25  Egg             -1.896         0.836          -3.673         0              0              0              63
  26  Spatula         0.672          0.787          -0.625         0              180            0              64
  27  Potato          0.757          0.805          -0.790         0              270            0              64
  28  Cup             0.841          0.663          0.448          0              0              0              46
  29  SaltShaker      0.661          0.660          0.508          0              0              0              46
  30  PepperShaker    0.803          0.879          -0.245         0              0              0              41
  31  ButterKnife     0.721          0.664          0.387          0              0              0              46
  32  DishSponge      0.877          0.883          -0.108         0              0              0              41
  33  Bread           -0.252         0.944          0.929          0              270            0              67
  34  Lettuce         0.661          0.751          0.326          0              0              0              46
  35  Tomato          0.729          0.931          -0.108         0              0              0              41
  36  Spoon           0.901          0.666          0.630          0              0              0              46
  37  Knife           0.574          0.783          0.002          0              270            0              40
  38  Mug             -2.002         0.794          -3.673         0              0              0              63
  39  Bowl            -1.056         0.899          0.929          0              270            0              67
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Move forward then turn right walk towards the sink counter | STEP 2: Pick up the knife beside the tomato on the sink counter | STEP 3: Turn to your right then face the sink on your left | STEP 4: Put the knife in the sink and rinse it | STEP 5: Pick up the knife then turn around to your left head towards the shelves to your left | STEP 6: Put the knife beside the salt shaker on top of the shelves  | END