Task: Find a knife then clean it before putting 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           0.75           0.901          0.0            0              0              0
   1  Potato          2.112          1.361          -0.550         0              270            0              71
   2  WineBottle      -0.053         0.938          2.827          0              0              0              50
   3  WineBottle      2.304          0.938          2.063          0              0              0              50
   4  Ladle           -0.119         0.835          1.217          0              0              0              77
   5  Spoon           -0.349         0.792          1.049          0              0              0              77
   6  Spoon           1.556          0.938          2.589          0              270            0              50
   7  Fork            0.033          0.791          0.545          0              90             0              77
   8  Fork            -0.119         0.791          1.386          0              0              0              77
   9  Egg             0.576          0.837          2.529          0              0              0              74
  10  Cup             1.440          0.079          2.445          0              0              0              56
  11  Cup             2.150          0.935          2.260          0              0              0              50
  12  SoapBottle      -0.272         0.791          1.386          0              0              0              77
  13  Bowl            2.059          0.335          -0.007         0              270            0              71
  14  Bowl            -0.042         0.787          0.377          0              0              0              77
  15  PepperShaker    -0.042         0.785          0.881          0              0              0              77
  16  PepperShaker    1.840          0.933          0.435          0              0              0              61
  17  Mug             2.283          1.514          -0.097         0              0              0              71
  18  Apple           -0.295         0.087          -0.769         0              90             0              72
  19  Egg             1.945          1.365          -0.369         0              270            0              71
  20  Lettuce         2.164          0.664          -0.097         0              270            0              71
  21  Fork            -0.042         0.791          1.049          0              0              0              77
  22  SoapBottle      -0.119         0.791          0.545          0              0              0              77
  23  Ladle           1.805          1.547          2.805          0              90             0              51
  24  Ladle           1.989          0.790          2.197          0              270            0              65
  25  Bread           -0.199         0.823          0.813          0              0              0              77
  26  SaltShaker      0.708          0.076          2.445          0              0              0              57
  27  Potato          1.223          0.835          2.529          0              0              0              74
  28  Pan             1.928          0.070          0.640          0              0              0              47
  29  WineBottle      1.790          0.938          2.898          0              0              0              50
  30  Spatula         2.150          0.952          2.260          0              180            0              50
  31  Knife           1.169          0.793          2.712          277.964        131.917        168.464        74
  32  Tomato          1.917          0.984          0.806          0              0              0              61
  33  Apple           1.917          0.988          0.361          0              0              0              61
  34  ButterKnife     1.917          0.938          0.583          0              180            0              61
  35  Pot             2.140          0.935          1.106          0              0              0              52
  36  PepperShaker    0.032          0.076          2.129          0              0              0              44
  37  Cup             -0.349         0.789          1.217          0              0              0              77
  38  DishSponge      1.673          0.937          2.743          0              0              0              50
  39  Plate           -0.312         0.781          0.409          0              0              0              77
  40  Spoon           1.941          0.747          0.652          0              0              0              59
  41  Mug             -0.349         0.785          0.713          0              0              0              77
  42  Bowl            2.203          1.500          0.755          0              0              0              58
  43  Cabinet         2.041          2.113          2.618          0              0              0
  44  Cabinet         0.126          0.388          1.774          0              0              0
  45  StoveBurner     2.140          0.929          1.504          0              180            0
  46  Cabinet         1.760          0.388          2.346          0              0              0
  47  Cabinet         1.760          0.388          0.869          0              0              0
  48  Cabinet         2.041          1.810          0.283          0              0              0
  49  Drawer          -0.024         0.774          2.061          0              0              0
  50  CounterTop      1.065          0.973          2.666          0              0              0
  51  Cabinet         1.969          2.113          2.618          0              0              0
  52  StoveBurner     2.140          0.929          1.106          0              0              0
  53  Cabinet         2.041          2.113          1.809          0              0              0
  54  StoveBurner     1.866          0.929          1.504          0              180            0
  55  Cabinet         2.041          2.113          1.766          0              0              0
  56  Cabinet         1.514          0.388          2.360          0              0              0
  57  Cabinet         0.351          0.388          2.360          0              0              0
  58  Cabinet         2.041          1.810          0.872          0              0              0
  59  Drawer          2.167          0.774          0.582          0              0              0
  60  Cabinet         2.041          2.113          0.892          0              0              0
  61  CounterTop      2.060          0.973          0.583          0              0              0
  62  Sink            0.935          0.936          2.646          0              0              0
  63  Curtains        0.964          2.061          2.989          0              0              0
  64  StoveBurner     1.863          0.929          1.106          0              0              0
  65  Drawer          1.911          0.774          2.060          0              0              0
  66  StoveKnob       2.326          1.092          1.610          288.013        90             0
  67  StoveKnob       2.326          1.092          1.460          288.013        90             0
  68  StoveKnob       2.326          1.092          1.210          288.013        90             0
  69  StoveKnob       2.326          1.092          1.050          288.013        90             0
  70  Toaster         2.126          0.926          0.572          0              270            0
  71  Fridge          2.104          0.0            -0.279         0              270            0
  72  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  73  LightSwitch     0.354          1.518          -1.031         0              0              0
  74  SinkBasin       0.903          0.784          2.640          0              0              0
  75  Microwave       -0.310         0.926          2.077          0              90             0
  76  CoffeeMachine   2.084          0.927          2.667          0              225            0
  77  DiningTable     -0.153         -0.000         1.073          0              270            0
  78  Faucet          1.175          0.926          2.950          270            90             0
  79  Faucet          0.686          0.926          2.950          270            90             0
  80  Chair           -0.077         0.002          0.196          0              15.000         0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Walk straight then take a quick right and walk towards the counter. Face the toaster. | STEP 2: Pick up the knife in front of the toaster | STEP 3: Turn left and walk towards the sink | STEP 4: Place the knife in the sink then turn the faucet on so water fills the sink. Turn the faucet off and pick up the knife again. | STEP 5: Turn left and left again and walk straight again. Turn right to face the small table. | STEP 6: Place the knife on the table to the left of the wooden bowl. | END