Task: Rinse a knife and place it 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           0.5            0.900          -0.75          0              270            0
   1  Potato          -2.340         0.982          0.345          0              90             0              85
   2  DishSponge      0.856          0.919          -1.449         0              270            0              50
   3  DishSponge      -0.104         0.773          -1.473         0              0              0              55
   4  ButterKnife     1.412          0.912          -1.737         0              0              0              52
   5  Fork            -2.614         0.952          0.345          0              90             0              85
   6  Egg             0.649          0.954          -1.649         0              270            0              50
   7  Egg             0.300          0.947          0.292          0              0              0              51
   8  Cup             -2.203         0.950          0.255          0              90             0              85
   9  Knife           -2.065         0.977          0.255          0              90             0              85
  10  SoapBottle      0.960          0.918          -1.516         0              270            0              50
  11  SoapBottle      -0.296         0.068          0.482          0              90             0              81
  12  Bowl            -0.096         0.911          0.375          0              0              0              51
  13  Bowl            -1.027         1.014          -1.737         0              0              0              74
  14  SaltShaker      1.943          0.104          0.199          0              0              0              60
  15  SaltShaker      1.781          0.908          -1.820         0              0              0              52
  16  PepperShaker    -2.614         0.948          0.524          0              90             0              85
  17  PepperShaker    0.445          0.106          0.346          0              0              0              63
  18  Lettuce         1.846          1.002          0.458          0              0              0              67
  19  Lettuce         -2.135         1.142          -1.763         0              0              0              82
  20  Mug             0.753          0.914          -1.715         0              90             0              50
  21  Mug             0.618          0.945          0.469          0              180            0              76
  22  Apple           -1.928         1.019          0.524          0              90             0              85
  23  Bread           1.299          0.978          -1.532         0              0              0              52
  24  Knife           -2.477         0.977          0.435          0              180            0              85
  25  Fork            1.724          0.912          0.458          0              0              0              67
  26  Bowl            0.621          0.109          0.270          0              90             0              63
  27  Kettle          1.361          0.962          0.294          0              180            0              47
  28  Cup             -2.135         0.779          -1.677         0              0              0              82
  29  Tomato          0.804          0.968          -1.848         0              270            0              50
  30  SoapBottle      -1.928         0.950          0.704          0              90             0              85
  31  Plate           1.681          1.329          -1.809         0              180            0              68
  32  Pot             1.007          0.962          0.561          0              270            0              54
  33  Spatula         0.753          0.934          -1.516         0              270            0              50
  34  PaperTowelRoll  -2.203         1.056          0.345          0              90             0              85
  35  Egg             1.601          0.947          0.623          0              0              0              67
  36  Lettuce         -2.047         0.601          -1.763         0              0              0              82
  37  SaltShaker      -1.928         0.948          0.435          0              90             0              85
  38  PepperShaker    1.781          0.908          -1.489         0              0              0              52
  39  Apple           -0.427         0.137          0.612          0              90             0              81
  40  ButterKnife     1.724          0.912          0.209          0              0              0              67
  41  Potato          -2.340         0.982          0.704          0              90             0              85
  42  Pan             -0.644         1.328          -1.809         0              270            0              46
  43  DishSponge      1.824          0.772          0.306          0              0              0              53
  44  Spoon           1.663          0.913          0.623          0              90             0              67
  45  Mug             -1.791         0.947          0.345          0              90             0              85
  46  Cabinet         -0.193         1.688          -1.648         0              180            0
  47  StoveBurner     1.360          0.957          0.293          0              180            0
  48  Drawer          0.499          0.792          0.296          0              0              0
  49  Cabinet         0.095          0.400          -1.352         0              180            0
  50  Sink            0.711          0.817          -1.772         0              270            0
  51  CounterTop      0.280          0.947          0.458          0              0              0
  52  CounterTop      -0.680         0.947          -1.654         0              0              0
  53  Drawer          1.825          0.792          0.296          0              0              0
  54  StoveBurner     1.007          0.957          0.561          0              270            0
  55  Drawer          -0.150         0.792          -1.496         0              0              0
  56  Drawer          -0.586         0.792          -1.496         0              0              0
  57  StoveBurner     1.360          0.957          0.561          0              270            0
  58  Drawer          0.024          0.792          0.296          0              0              0
  59  Cabinet         1.079          0.400          -1.349         0              180            0
  60  Cabinet         1.669          0.402          0.151          0              0              0
  61  Cabinet         0.055          0.402          -1.351         0              0              0
  62  Cabinet         -0.180         0.402          0.151          0              0              0
  63  Cabinet         0.729          0.402          0.151          0              0              0
  64  StoveBurner     1.007          0.957          0.293          0              180            0
  65  Drawer          -1.100         0.792          -1.496         0              0              0
  66  Cabinet         -0.396         0.402          -1.351         0              0              0
  67  CounterTop      1.776          0.947          0.458          0              0              0
  68  Cabinet         1.974          1.688          -1.648         0              180            0
  69  Cabinet         -0.820         0.400          -1.349         0              180            0
  70  Toaster         0.305          0.900          0.552          0              180            0
  71  LightSwitch     -2.756         1.307          -0.987         0              90             0
  72  Window          0.582          1.613          -1.967         90             0              0
  73  Window          1.969          1.5            -0.615         90             270            0
  74  Microwave       -1.037         0.900          -1.723         0              0              0
  75  SinkBasin       0.377          0.765          -1.655         0              270            0
  76  CoffeeMachine   0.618          0.900          0.600          0              180            0
  77  StoveKnob       1.246          0.913          0.118          45             180            0
  78  StoveKnob       1.373          0.913          0.118          45             180            0
  79  StoveKnob       0.995          0.913          0.118          45             180            0
  80  StoveKnob       1.126          0.913          0.118          45             180            0
  81  GarbageCan      -0.368         -0.029         0.539          0              90             0
  82  Fridge          -2.134         0.0            -1.690         0              0              0
  83  Faucet          0.549          1.046          -1.833         0              232.527        0
  84  Stool           -1.475         0.000          0.414          1.233          280.375        0
  85  DiningTable     -2.255         -0.004         0.432          0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Move forward and turn right to face the white table. | STEP 2: Pick up the knife from the center of the table. | STEP 3: Carry the knife and turn to the right and then face the sink on the right. | STEP 4: Place the knife in the sink and turn on the water. Turn off the water and pick up the knife. | STEP 5: Hold the knife and turn around to the counter. Face the left side wall. | STEP 6: Open the top drawer and place the knife inside. Shut the drawer. | END