Task: Wash a knife and put it back

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           0.901          3.25           0              0              0
   1  Pan             -0.254         0.928          4.672          0              0              0              56
   2  Potato          -2.686         0.926          2.045          0              0              0              75
   3  ButterKnife     -2.706         0.935          3.302          0              0              0              61
   4  Spatula         -0.164         0.677          0.519          0              270            0              43
   5  Fork            -2.628         0.936          3.488          0              90             0              61
   6  Fork            -2.686         0.901          1.913          0              0              0              75
   7  Egg             -0.244         1.056          0.140          0              0              0              73
   8  Cup             -2.805         1.186          4.501          0              90             0              71
   9  Cup             -0.314         0.900          2.731          0              0              0              77
  10  Plate           -2.785         0.303          4.427          0              90             0              71
  11  Plate           -1.248         1.777          0.205          0              0              0              51
  12  Knife           -2.485         0.688          0.355          0              90             0              62
  13  SoapBottle      -2.789         0.900          2.177          0              0              0              75
  14  SoapBottle      -2.995         0.900          2.177          0              0              0              75
  15  Tomato          -2.037         0.992          0.348          0              0              0              54
  16  PepperShaker    -2.480         0.896          2.573          0              0              0              75
  17  Bread           -2.583         0.957          2.309          0              0              0              75
  18  Mug             -2.943         0.930          3.302          0              0              0              61
  19  Mug             -0.657         0.895          3.334          0              0              0              77
  20  Apple           -1.007         0.852          0.337          0              0              0              72
  21  Apple           -2.798         0.110          0.318          0              26.101         0              68
  22  Egg             -0.921         0.829          0.447          0              0              0              72
  23  Plate           -2.892         0.904          1.913          0              0              0              75
  24  Fork            -2.323         0.662          0.300          0              90             0              62
  25  Bread           -0.572         0.957          2.530          0              0              0              77
  26  Apple           -2.892         0.956          2.441          0              0              0              75
  27  Lettuce         -2.847         1.266          4.278          0              90             0              71
  28  Spatula         -1.180         0.810          0.281          0              90             0              72
  29  Knife           -0.400         0.926          2.329          0              0              0              77
  30  Potato          -2.847         1.212          4.649          0              90             0              71
  31  Tomato          -2.738         0.362          4.649          0              90             0              71
  32  Cup             -0.143         0.900          2.731          0              0              0              77
  33  SaltShaker      -2.323         0.658          0.519          0              0              0              62
  34  PepperShaker    -0.326         0.658          0.573          0              0              0              43
  35  ButterKnife     -1.904         0.928          0.602          0              0              0              54
  36  SoapBottle      -0.572         0.900          3.133          0              0              0              77
  37  Pan             -0.535         0.928          4.274          0              0              0              58
  38  DishSponge      -0.359         1.773          0.297          0              0              0              52
  39  Pot             -2.476         0.889          2.050          0              0              0              75
  40  Spoon           -1.266         0.797          0.337          0              0              0              72
  41  Mug             -0.403         1.018          0.203          0              0              0              73
  42  Bowl            -2.847         0.629          4.427          0              90             0              71
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Go to the white table | STEP 2: Pick up a knife | STEP 3: Go to the sink | STEP 4: Wash the knife | STEP 5: Go to the white table | STEP 6: Put the knife down on the table | END