Task: To put the knife in a drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.900          -1.0           0              270            0
   1  SprayBottle     -1.732         0.909          -1.448         0              0              0              80
   2  SprayBottle     -2.193         0.909          -1.707         0              0              0              80
   3  Pen             -2.445         0.913          0.032          0              0              0              84
   4  Potato          -0.477         0.953          -1.619         0              0              0              82
   5  Potato          1.420          1.762          1.963          0              270            0              101
   6  Ladle           0.664          0.955          -1.534         0              180            0              82
   7  Ladle           1.092          0.162          0.372          0              0              0              65
   8  Kettle          -1.431         0.949          -1.81          0              0              0              92
   9  ButterKnife     1.093          0.911          -1.331         0              0              0              60
  10  ButterKnife     -0.552         0.911          -1.448         0              0              0              82
  11  DishSponge      0.467          0.116          -1.633         0              90             0              76
  12  DishSponge      -1.524         1.857          -1.910         0              0              0              75
  13  Glassbottle     1.302          0.215          1.08           0              0              0              99
  14  Glassbottle     1.325          1.368          2.226          0              270            0              101
  15  Fork            -2.079         0.911          0.118          0              0              0              84
  16  Fork            1.260          0.911          -0.309         0              0              0              82
  17  Spoon           -2.116         0.911          -1.534         0              0              0              80
  18  Spoon           0.115          0.920          -1.607         0              270            0              61
  19  Spatula         1.414          1.177          -1.688         0              90             0              88
  20  Spatula         1.010          0.926          0.031          0              180            0              82
  21  Cup             1.335          1.162          -1.688         0              0              0              88
  22  Knife           -2.323         0.940          0.291          0              0              0              84
  23  SoapBottle      1.052          1.655          -1.839         0              0              0              71
  24  SoapBottle      1.090          0.114          -0.625         0              90             0              66
  25  Tomato          1.176          0.951          0.031          0              0              0              82
  26  PepperShaker    1.265          0.112          0.372          0              0              0              65
  27  PepperShaker    0.977          0.110          -1.244         0              0              0              67
  28  Bread           -0.703         0.989          -1.789         0              0              0              82
  29  Mug             -1.886         0.905          -1.793         0              0              0              80
  30  Mug             1.376          1.362          2.101          0              270            0              101
  31  Apple           0.285          0.954          -1.708         0              270            0              61
  32  Apple           1.356          1.754          1.775          0              270            0              101
  33  Tomato          1.275          1.407          1.976          0              270            0              101
  34  Glassbottle     -0.063         0.783          -1.707         0              270            0              103
  35  Knife           -2.079         0.940          0.377          0              0              0              84
  36  Plate           1.342          1.656          -0.658         0              0              0              70
  37  Fork            -2.201         0.911          0.549          0              0              0              84
  38  Ladle           -0.530         1.699          -1.839         0              0              0              64
  39  Potato          1.476          1.409          2.225          0              270            0              101
  40  Lettuce         1.325          1.436          1.726          0              270            0              101
  41  Kettle          -1.431         0.949          -1.525         0              0              0              90
  42  Pen             -1.835         0.913          0.463          0              180            0              84
  43  SaltShaker      1.461          1.651          -1.106         0              0              0              74
  44  Cup             -1.962         0.910          -1.448         0              0              0              80
  45  Egg             -1.957         0.939          0.291          0              0              0              84
  46  Spatula         1.010          0.926          -0.309         0              90             0              82
  47  Bowl            1.150          0.115          -1.129         0              0              0              67
  48  SprayBottle     1.420          0.213          1.022          0              0              0              99
  49  Pan             -1.081         0.949          -1.81          0              0              0              78
  50  SoapBottle      0.183          0.919          -1.708         0              270            0              61
  51  Pot             0.967          0.9            0.249          0              0              0              82
  52  ButterKnife     0.569          0.911          -1.874         0              0              0              82
  53  PepperShaker    0.771          0.112          -1.680         0              90             0              76
  54  DishSponge      -0.685         0.111          -1.535         0              0              0              69
  55  Bread           1.414          1.240          -1.002         0              0              0              88
  56  Apple           1.275          1.402          2.476          0              270            0              101
  57  Spoon           -1.712         0.911          0.377          0              0              0              84
  58  Mug             -1.810         1.651          -1.807         0              90             0              63
  59  Drawer          0.860          0.75           0.430          0              0              0
  60  Drawer          0.871          0.75           -1.134         0              0              0
  61  Sink            0.156          0.817          -1.801         0              270            0
  62  Cabinet         -0.868         2.005          -1.690         0              0              0
  63  Cabinet         -1.661         2.059          -1.684         0              90             0
  64  Cabinet         -0.817         2.059          -1.689         0              0              0
  65  Cabinet         0.860          0.402          0.665          0              0              0
  66  Cabinet         0.860          0.402          -0.552         0              0              0
  67  Cabinet         0.860          0.402          -1.365         0              0              0
  68  Cabinet         -0.244         0.402          -1.389         0              0              0
  69  Cabinet         -0.815         0.402          -1.389         0              0              0
  70  Cabinet         1.159          2.059          -0.334         0              0              0
  71  Cabinet         0.488          2.059          -1.689         0              0              0
  72  Cabinet         -0.193         2.059          -1.689         0              0              0
  73  Drawer          0.860          0.75           -0.699         0              0              0
  74  Cabinet         1.159          2.059          -1.019         0              0              0
  75  Cabinet         -1.611         2.005          -1.690         0              0              0
  76  Cabinet         0.832          0.401          -1.393         0              90             0
  77  Drawer          -2.105         0.75           -1.389         0              0              0
  78  StoveBurner     -1.081         0.941          -1.809         0              0              0
  79  Cabinet         -0.202         0.401          -1.391         0              90             0
  80  CounterTop      -1.973         0.945          -1.707         0              0              0
  81  Drawer          -0.375         0.75           -1.389         0              0              0
  82  CounterTop      1.164          0.946          -0.649         0              0              0
  83  StoveBurner     -1.081         0.941          -1.527         0              0              0
  84  CounterTop      -2.096         0.945          0.291          0              0              0
  85  Cabinet         -2.237         0.402          -1.389         0              0              0
  86  Drawer          0.584          0.75           -1.389         0              0              0
  87  Drawer          -1.795         0.75           -1.389         0              0              0
  88  CounterTop      1.5            1.197          -0.654         0              0              0
  89  Cabinet         -1.667         0.402          -1.389         0              0              0
  90  StoveBurner     -1.430         0.941          -1.525         0              0              0
  91  Drawer          -0.685         0.75           -1.389         0              0              0
  92  StoveBurner     -1.430         0.941          -1.809         0              0              0
  93  LightSwitch     -2.539         1.289          2.568          0              90             0
  94  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  95  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  96  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  97  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  98  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  99  GarbageCan      1.343          0.015          1.041          0              0              0
 100  HousePlant      1.440          1.153          0.593          0              0              0
 101  Fridge          1.417          0.0            2.101          0              0              0
 102  Window          -0.486         1.452          3.302          90             0              0
 103  SinkBasin       -0.063         0.765          -1.713         0              270            0
 104  Microwave       1.422          1.150          0.022          0              270            0
 105  Toaster         -2.066         0.900          -1.848         0              0              0
 106  Stool           -1.994         0.010          0.882          0              0              0
 107  Faucet          -0.096         1.041          -1.867         0              270            0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Turn around and walk across the room, then turn to face the sink counter on the right. | STEP 2: Pick up the knife on the edge of the counter in front of the potato.  | STEP 3: Turn and face the counter on the left.  | STEP 4: Open the drawer on the right side, next to the sink, and put the knife inside. | END