Task: Put a large clean knife 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           0.25           0.900          -0.75          0              0              0
   1  Kettle          -0.096         0.913          0.375          0              0              0              49
   2  Pan             -0.644         1.328          -1.809         0              270            0              44
   3  ButterKnife     1.781          0.912          -1.571         0              0              0              50
   4  Pot             1.007          0.962          0.561          0              270            0              52
   5  Fork            -2.340         0.952          0.165          0              180            0              83
   6  Fork            -1.928         0.952          0.345          0              0              0              83
   7  Spoon           -0.267         0.913          -1.571         0              0              0              50
   8  Egg             -2.614         0.987          0.165          0              90             0              83
   9  Cup             1.905          0.106          0.274          0              0              0              58
  10  Cup             0.564          0.910          0.292          0              0              0              49
  11  Plate           1.724          0.913          0.292          0              0              0              65
  12  Plate           0.504          0.111          0.308          0              0              0              61
  13  Knife           1.412          0.937          -1.654         0              90             0              50
  14  SoapBottle      1.658          0.910          -1.903         0              0              0              50
  15  SoapBottle      0.649          0.918          -1.449         0              270            0              48
  16  Tomato          -1.791         1.001          0.704          0              90             0              83
  17  Bowl            -2.047         0.780          -1.720         0              0              0              80
  18  Mug             -2.397         0.775          -1.849         0              90             0              80
  19  Apple           -2.065         1.019          0.435          0              90             0              83
  20  Apple           -0.394         0.137          0.525          0              90             0              79
  21  Bread           1.299          0.978          -1.532         0              0              0              50
  22  Knife           1.785          0.937          0.540          0              0              0              65
  23  Fork            -1.791         0.952          0.255          0              90             0              83
  24  Bowl            -1.791         0.951          0.524          0              90             0              83
  25  Kettle          -2.477         0.953          0.614          0              90             0              83
  26  Cup             -2.397         1.050          -1.806         0              0              0              80
  27  Tomato          -2.222         0.560          -1.720         0              0              0              80
  28  SoapBottle      -2.340         0.950          0.255          0              90             0              83
  29  Plate           -2.614         0.953          0.345          0              90             0              83
  30  Pot             1.361          0.962          0.561          0              270            0              55
  31  Spatula         0.300          0.927          0.209          0              0              0              49
  32  PaperTowelRoll  -2.203         1.056          0.435          0              90             0              83
  33  Egg             -1.872         0.301          -1.595         0              0              0              80
  34  Lettuce         0.851          1.001          -1.537         0              231.490        0              48
  35  SaltShaker      1.167          0.908          -1.489         0              0              0              50
  36  PepperShaker    -0.491         0.107          -1.508         0              0              0              64
  37  Apple           -1.96          0.336          -1.644         0              0              0              80
  38  ButterKnife     0.701          0.919          -1.649         0              270            0              48
  39  Potato          -1.079         1.045          -1.671         0              0              0              72
  40  Pan             1.022          0.959          0.288          0              219.190        0              62
  41  DishSponge      0.856          0.919          -1.848         0              270            0              48
  42  Spoon           -1.292         0.774          -1.472         0              270            0              63
  43  Mug             -0.175         0.907          -1.820         0              0              0              50
  44  Cabinet         -0.193         1.688          -1.648         0              180            0
  45  StoveBurner     1.360          0.957          0.293          0              180            0
  46  Drawer          0.499          0.792          0.296          0              0              0
  47  Cabinet         0.095          0.400          -1.352         0              180            0
  48  Sink            0.711          0.817          -1.772         0              270            0
  49  CounterTop      0.280          0.947          0.458          0              0              0
  50  CounterTop      -0.680         0.947          -1.654         0              0              0
  51  Drawer          1.825          0.792          0.296          0              0              0
  52  StoveBurner     1.007          0.957          0.561          0              270            0
  53  Drawer          -0.150         0.792          -1.496         0              0              0
  54  Drawer          -0.586         0.792          -1.496         0              0              0
  55  StoveBurner     1.360          0.957          0.561          0              270            0
  56  Drawer          0.024          0.792          0.296          0              0              0
  57  Cabinet         1.079          0.400          -1.349         0              180            0
  58  Cabinet         1.669          0.402          0.151          0              0              0
  59  Cabinet         0.055          0.402          -1.351         0              0              0
  60  Cabinet         -0.180         0.402          0.151          0              0              0
  61  Cabinet         0.729          0.402          0.151          0              0              0
  62  StoveBurner     1.007          0.957          0.293          0              180            0
  63  Drawer          -1.100         0.792          -1.496         0              0              0
  64  Cabinet         -0.396         0.402          -1.351         0              0              0
  65  CounterTop      1.776          0.947          0.458          0              0              0
  66  Cabinet         1.974          1.688          -1.648         0              180            0
  67  Cabinet         -0.820         0.400          -1.349         0              180            0
  68  Toaster         0.305          0.900          0.552          0              180            0
  69  LightSwitch     -2.756         1.307          -0.987         0              90             0
  70  Window          0.582          1.613          -1.967         90             0              0
  71  Window          1.969          1.5            -0.615         90             270            0
  72  Microwave       -1.037         0.900          -1.723         0              0              0
  73  SinkBasin       0.377          0.765          -1.655         0              270            0
  74  CoffeeMachine   0.618          0.900          0.600          0              180            0
  75  StoveKnob       1.246          0.913          0.118          45             180            0
  76  StoveKnob       1.373          0.913          0.118          45             180            0
  77  StoveKnob       0.995          0.913          0.118          45             180            0
  78  StoveKnob       1.126          0.913          0.118          45             180            0
  79  GarbageCan      -0.368         -0.029         0.539          0              90             0
  80  Fridge          -2.134         0.0            -1.690         0              0              0
  81  Faucet          0.549          1.046          -1.833         0              232.527        0
  82  Stool           -1.475         0.000          0.414          1.233          280.375        0
  83  DiningTable     -2.255         -0.004         0.432          0              0              0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn right and walk over to the window, then turn left and walk up to the counter. | STEP 2: Pick up the large metal knife off of the counter. | STEP 3: Walk to the sink that is behind you. | STEP 4: Put the large metal knife in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean knife. | STEP 5: Walk over to the oven behind you and turn left to face the door. | STEP 6: Open the furthest drawer on your right and put the clean knife inside, then close the drawer. | END