Task: clean the knife on the counter to 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          0.25           0              90             0
   1  SprayBottle     -1.524         1.857          -1.910         0              0              0              75
   2  Pen             0.982          0.777          -1.178         0              0              0              60
   3  Pen             -2.201         0.913          0.032          0              0              0              84
   4  Potato          0.251          0.961          -1.657         0              270            0              61
   5  Potato          1.494          1.203          0.370          0              90             0              88
   6  Ladle           0.758          0.955          -1.619         0              0              0              82
   7  Ladle           1.176          0.955          0.372          0              0              0              82
   8  Kettle          -1.081         0.949          -1.81          0              0              0              78
   9  Kettle          0.041          1.656          -1.876         0              0              0              72
  10  ButterKnife     0.115          0.919          -1.708         0              270            0              61
  11  Glassbottle     -0.751         0.112          -1.487         0              0              0              69
  12  Pot             1.093          0.913          -0.990         0              0              0              82
  13  Egg             -2.445         0.939          0.291          0              0              0              84
  14  Egg             1.302          0.243          1.166          0              0              0              99
  15  Cup             -0.326         0.911          -1.619         0              0              0              82
  16  Plate           -0.603         1.656          -1.839         0              0              0              64
  17  Plate           -1.809         0.911          -1.793         0              0              0              80
  18  Knife           0.475          0.941          -1.874         0              90             0              82
  19  Knife           -0.477         0.941          -1.874         0              90             0              82
  20  SoapBottle      1.342          1.655          -1.421         0              0              0              74
  21  SoapBottle      -0.477         0.911          -1.534         0              0              0              82
  22  Tomato          1.459          0.254          1.108          0              0              0              99
  23  Tomato          1.341          0.254          1.08           0              0              0              99
  24  PepperShaker    -1.396         1.853          -1.766         0              0              0              75
  25  PepperShaker    1.223          1.651          -1.421         0              0              0              74
  26  SaltShaker      -2.079         0.905          0.463          0              0              0              84
  27  SaltShaker      0.664          0.906          -1.619         0              0              0              82
  28  Bread           -1.957         0.988          0.291          0              0              0              84
  29  Mug             1.505          1.260          -0.021         0              270            0              104
  30  Mug             1.070          0.957          -1.641         0              0              0              98
  31  Apple           1.375          1.402          1.851          0              270            0              101
  32  Apple           1.454          1.196          -1.345         0              0              0              88
  33  Tomato          1.494          1.202          -1.688         0              0              0              88
  34  Glassbottle     0.285          0.920          -1.808         0              270            0              61
  35  Knife           -2.323         0.940          0.118          0              0              0              84
  36  Plate           -1.039         1.851          -1.839         0              0              0              62
  37  Fork            0.697          0.774          -1.533         0              0              0              86
  38  Ladle           1.461          1.700          -0.579         0              0              0              70
  39  Potato          1.453          1.762          1.963          0              270            0              101
  40  Lettuce         0.758          0.980          -1.789         0              0              0              82
  41  Kettle          -2.023         1.657          -1.866         0              90             0              63
  42  Pen             -1.962         0.913          -1.707         0              0              0              77
  43  SaltShaker      -0.703         0.906          -1.448         0              0              0              82
  44  Cup             0.149          0.920          -1.607         0              270            0              61
  45  Egg             1.426          1.396          2.101          0              270            0              101
  46  Spatula         -2.201         0.925          0.463          0              0              0              84
  47  Bowl            0.973          0.115          -0.699         0              0              0              66
  48  SprayBottle     -2.445         0.909          0.549          0              0              0              84
  49  Pan             -1.079         0.945          -1.528         0              0              0              83
  50  SoapBottle      -2.079         0.910          0.118          0              180            0              84
  51  Pot             -1.431         0.949          -1.81          0              0              0              92
  52  ButterKnife     1.343          0.911          -0.309         0              0              0              82
  53  PepperShaker    -2.445         0.905          0.377          0              0              0              84
  54  DishSponge      1.454          1.161          -0.659         0              0              0              88
  55  Bread           1.414          1.240          -1.002         0              0              0              88
  56  Apple           0.149          0.954          -1.758         0              270            0              61
  57  Spoon           1.113          0.774          -1.233         0              90             0              60
  58  Mug             -1.828         0.111          -1.683         0              0              0              89
  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 right and walk to the kitchen counter between the range and the sink | STEP 2: pick up the knife from behind the soap | STEP 3: turn left and walk to face the sink | STEP 4: place the knife in the sink, turn on the tap, turn off the tap, pick up the knife from the sink | STEP 5: turn left to face the cabinets | STEP 6: open the cabinet on the right containing a spoon, place the knife in the cabinet to the right of the spoon, close the cabinet | END