Task: Wash a knife and put it back on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          3.5            0              90             0
   1  Pan             1.761          1.027          -1.599         0              0              0              92
   2  Potato          -0.794         1.069          1.943          0              0              0              52
   3  Ladle           -0.714         0.855          1.103          0              180            0              106
   4  ButterKnife     2.486          0.801          0.685          0              317.0          0              61
   5  ButterKnife     -0.544         1.027          2.434          0              0              0              52
   6  Spoon           -0.669         1.028          2.066          0              0              0              52
   7  Fork            2.376          0.765          3.97           0              90             0              50
   8  Fork            1.675          0.801          1.762          0              317.0          0              64
   9  Egg             -0.645         0.860          1.181          0              90             0              106
  10  Egg             2.451          0.808          3.895          0              270            0              50
  11  Cup             2.302          0.763          3.97           0              0              0              50
  12  Cup             -1.028         0.784          -0.073         0              90             0              93
  13  Tomato          2.228          0.818          3.795          0              0              0              50
  14  PepperShaker    2.976          0.760          4.044          0              270            0              50
  15  PepperShaker    -0.374         1.023          1.356          0              0              0              52
  16  Bread           1.926          0.832          3.821          0              270            0              50
  17  Bread           2.599          0.832          3.795          0              0              0              50
  18  Mug             -1.069         0.781          -0.406         0              90             0              93
  19  Apple           -0.645         0.866          1.414          0              90             0              106
  20  Apple           -0.877         1.492          -0.295         0              90             0              93
  21  Pan             2.645          0.032          -0.272         0              270            0              75
  22  Glassbottle     2.194          1.027          1.107          0              136.999        0              49
  23  Knife           2.162          0.827          1.036          0              227.0          0              62
  24  SoapBottle      -0.854         1.762          0.351          0              0              0              84
  25  Egg             -0.577         0.860          1.181          0              90             0              106
  26  Fork            2.450          0.765          4.118          0              270            0              50
  27  Potato          2.553          0.806          4.387          0              225            0              50
  28  Ladle           2.376          0.803          4.495          0              0              0              50
  29  Tomato          2.673          0.818          4.495          0              0              0              50
  30  Pot             2.875          1.029          -1.151         0              0              0              49
  31  WineBottle      2.868          0.765          4.072          0              225            0              50
  32  Plate           -0.890         0.049          0.615          0              0              0              82
  33  Spatula         1.495          0.805          -1.459         0              270            0              56
  34  PaperTowelRoll  1.956          0.868          3.685          0              225            0              50
  35  Lettuce         1.350          1.085          -1.560         0              90             0              49
  36  Apple           -0.418         1.077          1.943          0              0              0              52
  37  SaltShaker      2.818          0.797          -0.129         0              0              0              59
  38  PepperShaker    2.275          0.760          4.192          0              270            0              50
  39  ButterKnife     2.706          0.801          0.164          0              0              0              60
  40  Bread           2.710          0.832          4.229          0              225            0              50
  41  Cup             -0.922         1.440          -0.184         0              90             0              93
  42  DishSponge      3.065          0.034          0.267          0              0              0              76
  43  Bowl            -0.628         0.047          0.786          0              0              0              82
  44  Spoon           -0.851         0.817          1.414          0              180            0              106
  45  Mug             -0.987         0.781          -0.516         0              90             0              93
  46  Sink            -0.716         1.023          1.333          0              0              0
  47  StoveBurner     1.835          1.018          -1.840         0              90             0
  48  StoveBurner     2.177          1.018          -1.599         0              0              0
  49  CounterTop      2.812          0.992          0.675          0              0              0
  50  DiningTable     2.419          0.003          3.930          0              0              0
  51  Drawer          -0.643         0.828          0.616          0              0              0
  52  CounterTop      -0.813         1.062          2.188          0              0              0
  53  StoveBurner     2.115          1.018          -1.840         0              270            0
  54  Drawer          -0.643         0.831          1.953          0              0              0
  55  Drawer          -0.643         0.833          2.418          0              0              0
  56  Drawer          1.347          0.836          -1.539         0              0              0
  57  Drawer          2.693          0.833          -1.131         0              0              0
  58  Drawer          2.693          0.833          -0.699         0              0              0
  59  Drawer          2.693          0.833          -0.267         0              0              0
  60  Drawer          2.693          0.833          0.163          0              0              0
  61  Drawer          2.524          0.833          0.720          0              2.000          0
  62  Drawer          2.232          0.833          1.036          0              2.000          0
  63  Drawer          1.936          0.833          1.354          0              2.000          0
  64  Drawer          1.646          0.833          1.670          0              2.000          0
  65  Cabinet         1.504          2.475          -1.710         0              0              0
  66  Cabinet         -0.823         2.220          1.621          0              0              0
  67  Cabinet         -0.823         2.220          0.615          0              0              0
  68  Cabinet         1.136          0.388          -1.355         0              0              0
  69  Cabinet         -0.356         0.383          2.626          0              0              0
  70  Cabinet         2.745          2.220          -1.690         0              0              0
  71  Cabinet         1.882          0.383          1.017          0              0              0
  72  Cabinet         1.307          0.473          1.640          0              0              0
  73  Cabinet         1.892          0.383          1.006          0              0              0
  74  Cabinet         2.467          0.383          0.383          0              0              0
  75  Cabinet         2.466          0.383          -0.475         0              0              0
  76  Cabinet         2.466          0.473          0.371          0              0              0
  77  Cabinet         2.386          2.475          -1.710         0              0              0
  78  Cabinet         -0.356         0.383          1.712          0              0              0
  79  Cabinet         2.745          2.220          0.019          0              0              0
  80  Cabinet         -0.663         2.496          0.157          0              0              0
  81  Cabinet         -0.663         2.496          -0.868         0              0              0
  82  Cabinet         -0.356         0.383          0.269          0              0              0
  83  Cabinet         -0.823         2.220          1.603          0              0              0
  84  Cabinet         -0.662         2.234          0.586          0              0              0
  85  Cabinet         2.745          2.220          -0.843         0              0              0
  86  Cabinet         2.745          2.220          -0.827         0              0              0
  87  Cabinet         -0.823         2.220          2.608          0              0              0
  88  Cabinet         2.732          2.226          -1.709         0              0              0
  89  Cabinet         1.137          2.226          -1.709         0              0              0
  90  Cabinet         2.466          0.383          -0.491         0              0              0
  91  Cabinet         2.466          0.383          -1.339         0              0              0
  92  StoveBurner     1.761          1.018          -1.599         0              0              0
  93  Fridge          -0.908         0.0            -0.405         0              0              0
  94  HousePlant      2.517          1.016          1.822          0              0              0
  95  Microwave       1.939          1.745          -1.826         0              0              0
  96  StoveKnob       2.017          1.041          -1.514         0              180            180
  97  StoveKnob       1.934          1.041          -1.514         0              180            180
  98  StoveKnob       2.017          1.041          -1.589         0              180            180
  99  StoveKnob       1.934          1.041          -1.589         0              180            180
 100  Window          1.756          1.608          4.762          90             0              0
 101  HousePlant      2.171          1.004          2.091          0              0              0
 102  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 103  LightSwitch     -0.099         1.410          -2.066         0              0              0
 104  GarbageCan      -0.951         -0.029         2.826          0              0              0
 105  Toaster         -1.007         1.018          2.238          0              90             0
 106  SinkBasin       -0.714         0.805          1.348          0              90             0
 107  Chair           1.615          0.004          4.310          0              107.976        0
 108  Faucet          -1.120         1.013          1.334          0              90             0
 109  Chair           2.759          0.004          3.086          0              358.967        0
 110
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Walk over to the counter. | STEP 2: Grab the knife. | STEP 3: Head over to the sink. | STEP 4: Wash the knife. | STEP 5: Grab the knife and walk back to the table. | STEP 6: Place the knife on the table. | END