Task: Put two knives 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          1.75           0              90             0
   1  Pan             2.051          1.513          5.626          0              0              0              85
   2  Potato          -0.687         1.027          0.486          0              0              0              63
   3  DishSponge      1.332          0.896          2.137          0              90             0              86
   4  DishSponge      0.192          0.759          6.565          0              225            0              99
   5  ButterKnife     -0.535         0.992          0.395          0              0              0              63
   6  ButterKnife     0.169          0.760          6.807          0              315            0              99
   7  Pot             1.32           0.988          3.848          0              0              0              62
   8  Spoon           -0.617         0.772          0.395          0              0              0              59
   9  Fork            0.620          0.993          0.486          0              0              0              63
  10  Fork            -0.467         0.760          6.416          0              270            0              99
  11  Egg             1.966          1.565          5.876          0              270            0              85
  12  Egg             1.332          0.946          2.525          0              90             0              86
  13  Cup             1.135          0.988          0.668          0              0              0              63
  14  Plate           0.958          1.580          0.251          0              0              0              70
  15  Knife           -0.332         0.789          6.217          0              315            0              99
  16  Tomato          -0.384         1.042          0.670          0              0              0              63
  17  Tomato          2.055          0.130          6.469          0              0              0              87
  18  SoapBottle      1.238          0.140          2.086          0              0              0              75
  19  SoapBottle      1.406          0.140          2.720          0              0              0              75
  20  PepperShaker    -0.275         0.139          0.429          0              0              0              71
  21  SaltShaker      1.585          2.202          4.175          0              0              0              54
  22  SaltShaker      1.400          0.136          4.608          0              0              0              65
  23  Lettuce         1.493          1.081          0.213          0              0              0              63
  24  Lettuce         0.305          0.848          6.604          0              270            0              99
  25  Mug             0.064          1.092          0.310          0              270            0              79
  26  Apple           -0.003         0.834          6.479          0              270            0              99
  27  Apple           1.225          1.067          1.577          0              0              0              63
  28  Bowl            -0.134         1.578          0.251          0              0              0              76
  29  Bread           -0.221         0.829          6.787          0              0              0              99
  30  Egg             1.497          0.941          2.525          0              90             0              86
  31  Knife           -0.487         0.789          6.807          0              135            0              99
  32  Fork            0.803          0.772          0.395          0              90             0              55
  33  Apple           -0.308         1.067          0.303          0              0              0              63
  34  Kettle          1.317          0.988          4.294          0              0              0              58
  35  Plate           -0.552         0.144          0.506          0              0              0              71
  36  SaltShaker      -0.346         0.755          6.632          0              0              0              99
  37  Lettuce         -0.459         1.081          0.486          0              0              0              63
  38  SoapBottle      0.604          0.143          0.576          0              0              0              69
  39  Spatula         0.102          0.775          6.305          0              225            0              99
  40  PaperTowelRoll  -0.353         0.864          6.019          0              225            0              99
  41  Pot             1.559          0.988          4.294          0              0              0              61
  42  Potato          0.150          0.794          6.416          0              270            0              99
  43  ButterKnife     0.923          0.992          0.212          0              0              0              63
  44  PepperShaker    1.402          2.202          3.933          0              0              0              67
  45  Pan             1.562          0.988          3.848          0              0              0              57
  46  Tomato          1.442          0.940          2.085          0              90             0              86
  47  DishSponge      0.124          0.771          0.618          0              0              0              60
  48  Cup             0.125          0.756          6.851          0              225            0              99
  49  Spoon           -0.096         0.761          6.632          0              0              0              99
  50  Mug             1.402          2.202          3.747          0              0              0              54
  51  Cabinet         1.307          2.455          4.360          0              0              0
  52  Cabinet         1.054          0.422          1.710          0              0              0
  53  Drawer          1.280          0.808          4.718          0              0              0
  54  Cabinet         1.307          2.455          3.607          0              0              0
  55  Drawer          0.736          0.802          0.521          0              0              0
  56  Drawer          1.276          0.802          3.291          0              0              0
  57  StoveBurner     1.562          0.982          3.848          0              0              0
  58  StoveBurner     1.317          0.982          4.294          0              0              0
  59  Drawer          -0.482         0.802          0.521          0              0              0
  60  Drawer          0.124          0.802          0.521          0              0              0
  61  StoveBurner     1.559          0.982          4.294          0              0              0
  62  StoveBurner     1.320          0.982          3.848          0              0              0
  63  CounterTop      1.391          1.028          0.897          0              0              0
  64  CounterTop      1.391          1.028          4.716          0              0              0
  65  Cabinet         1.054          0.422          4.548          0              0              0
  66  Cabinet         1.317          2.134          0.517          0              0              0
  67  Cabinet         1.317          2.134          4.889          0              0              0
  68  Cabinet         1.317          2.134          3.095          0              0              0
  69  Cabinet         0.443          0.422          0.743          0              0              0
  70  Cabinet         1.270          2.134          0.434          0              0              0
  71  Cabinet         -0.775         0.422          0.743          0              0              0
  72  Cabinet         -0.168         0.422          0.743          0              0              0
  73  Cabinet         1.317          2.134          1.534          0              0              0
  74  Cabinet         1.054          0.422          2.990          0              0              0
  75  Cabinet         1.054          0.422          2.944          0              0              0
  76  Cabinet         -0.263         2.134          0.434          0              0              0
  77  Cabinet         0.252          2.134          0.434          0              0              0
  78  Sink            1.391          1.006          2.326          0              0              0
  79  Microwave       0.108          0.981          0.262          0              0              0
  80  HousePlant      -0.165         0.826          6.444          0              0              0
  81  CoffeeMachine   1.551          0.982          0.953          0              270            0
  82  Toaster         1.473          0.981          4.715          0              270            0
  83  Window          -2.065         1.916          3.626          90             90             0
  84  Window          1.763          2.007          2.299          90             270            0
  85  Fridge          2.035          0.0            5.625          0              0              0
  86  SinkBasin       1.387          0.880          2.338          0              90             0
  87  GarbageCan      2.001          -0.044         6.503          0              0              0
  88  StoveKnob       1.140          0.934          3.987          45             270            0
  89  StoveKnob       1.140          0.934          4.309          45             270            0
  90  StoveKnob       1.140          0.934          4.140          45             270            0
  91  StoveKnob       1.140          0.934          3.824          45             270            0
  92  Vase            -0.226         0.834          6.993          0              0              0
  93  Vase            2.098          0.043          7.070          0              257.232        0
  94  Vase            -0.594         0.835          6.130          0              225            0
  95  LightSwitch     -2.0           1.549          6.045          0              90             0
  96  Safe            2.046          1.072          7.054          0              257.232        0
  97  Faucet          1.534          1.025          2.371          0              294.391        0
  98  Blinds          1.738          2.563          2.312          0              90             0
  99  DiningTable     -0.156         0.000          6.474          0              0              0
 100  Chair           0.291          0.002          6.142          0              310.162        0
 101  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Back away from the counter and go to the left to the dining table. | STEP 2: Pick up the big knife that is on the table behind the paper towels. | STEP 3: Turn to the right and go to the drawer between the fridge and stove.  | STEP 4: Open the drawer, put the knife inside, close the drawer.  | STEP 5: Turn around and go to the wall, go right to the dining table. | STEP 6: Pick up the knife that is on the table by the bread.  | STEP 7: Turn around and go to the left, then go left to the drawer between the fridge and stove.  | STEP 8: Open the drawer, put the knife inside, close the drawer,  | END