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           0.0            0.869          -2.75          0              90             0
   1  Potato          -1.297         0.085          -3.537         0              270            0              60
   2  Potato          0.961          0.698          0.326          0              0              0              50
   3  DishSponge      0.757          0.772          -0.570         0              270            0              68
   4  DishSponge      0.721          0.664          0.448          0              0              0              50
   5  ButterKnife     0.877          0.883          0.098          0              0              0              45
   6  Spatula         0.671          0.775          -0.061         0              180            0              44
   7  Fork            0.817          0.760          0.002          0              270            0              44
   8  Fork            -2.054         0.702          -1.091         0              0              0              81
   9  Pot             -2.097         0.930          1.049          0              0              0              52
  10  Egg             0.630          0.502          -1.957         0              270            0              65
  11  Egg             0.630          1.411          -1.725         0              270            0              65
  12  Knife           0.781          0.687          0.508          0              0              0              50
  13  Tomato          0.708          1.423          -2.190         0              270            0              65
  14  Tomato          -1.635         0.750          -1.199         0              0              0              81
  15  SoapBottle      0.841          0.663          0.569          0              0              0              50
  16  Bowl            0.746          0.663          -1.880         0              270            0              65
  17  Bowl            0.757          0.770          -0.735         0              270            0              68
  18  PepperShaker    -0.855         0.896          1.187          0              270            0              71
  19  SaltShaker      0.812          1.460          0.596          0              0              0              57
  20  Bread           0.149          0.944          1.101          0              270            0              71
  21  Mug             0.746          0.460          -2.190         0              270            0              65
  22  Apple           -1.803         0.755          -1.524         0              0              0              81
  23  Pot             -1.552         0.930          0.785          0              0              0              49
  24  Plate           0.787          0.019          -0.119         0              0              0              55
  25  Fork            0.866          0.760          0.002          0              270            0              44
  26  SoapBottle      -1.297         0.051          -3.647         0              270            0              60
  27  Apple           0.601          0.718          0.508          0              0              0              50
  28  Pan             0.740          -0.007         -0.596         0              0              0              48
  29  Egg             -1.187         0.088          -3.537         0              270            0              60
  30  Spatula         0.623          0.774          -0.188         0              90             0              44
  31  Potato          -1.790         0.832          -3.673         0              0              0              67
  32  Cup             -1.886         0.700          -1.307         0              0              0              81
  33  SaltShaker      0.661          0.660          0.630          0              0              0              50
  34  PepperShaker    -1.556         0.696          -3.529         0              0              0              72
  35  ButterKnife     0.769          0.759          -0.061         0              0              0              44
  36  DishSponge      -0.252         0.900          1.015          0              270            0              71
  37  Bread           -0.873         0.931          0.979          0              24.239         0              71
  38  Lettuce         -1.085         0.973          0.955          41.373         2.335          4.075          71
  39  Tomato          -1.599         0.748          -3.782         0              0              0              72
  40  Spoon           -0.051         0.901          1.187          0              90             0              71
  41  Knife           0.901          0.687          0.387          0              90             0              50
  42  Mug             -1.556         0.695          -3.276         0              0              0              72
  43  Bowl            -1.056         0.899          1.187          0              270            0              71
  44  Drawer          0.706          0.766          -0.125         0              0              0
  45  CounterTop      0.792          0.919          -0.108         0              0              0
  46  Mirror          1.093          1.602          -0.643         0              0              0
  47  StoveBurner     -2.096         0.890          0.785          0              0              0
  48  Cabinet         0.507          0.345          -0.426         0              0              0
  49  StoveBurner     -1.552         0.890          0.785          0              0              0
  50  SideTable       0.770          -0.030         0.443          0              0              0
  51  Sink            0.753          0.882          -0.680         0              0              0
  52  StoveBurner     -2.096         0.890          1.049          0              0              0
  53  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  54  StoveBurner     -1.554         0.890          1.049          0              0              0
  55  Cabinet         0.507          0.345          0.156          0              0              0
  56  Cabinet         0.717          1.822          -0.398         0              0              0
  57  Cabinet         0.717          1.822          0.669          0              0              0
  58  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  59  Toaster         -0.522         0.886          1.081          0              180            0
  60  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  61  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  62  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  63  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  65  Fridge          0.680          -0.031         -1.957         0              0              0
  66  Window          -2.424         1.639          -2.453         90             270            0
  67  Microwave       -1.994         0.690          -3.651         0              0              0
  68  SinkBasin       0.757          0.762          -0.688         0              270            0
  69  LightSwitch     1.102          1.368          -3.737         0              270            0
  70  Shelf           -0.350         0.124          0.857          0              0              0
  71  DiningTable     -0.350         -0.025         0.857          0              0              0
  72  DiningTable     -1.909         -0.032         -3.507         0              0              0
  73  Blinds          -2.343         2.151          -2.437         0              270            0
  74  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  75  AluminumFoil    0.751          0.225          0.287          0              0              0
  76  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  77  Shelf           0.771          0.226          0.445          0              0              0
  78  Shelf           0.771          0.456          0.446          0              0              0
  79  Faucet          1.025          0.873          -0.678         270            180            0
  80  Shelf           -0.350         0.497          0.857          0              0              0
  81  DiningTable     -1.929         -0.035         -1.398         0              90             0
  82  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn left and walk across the room to the white table, then turn right and walk up to the small black shelving unit to the left of the counter. | STEP 2: Pick up the large metal knife that is to the left of the sponge on top of the black shelving unit. | STEP 3: Turn right and walk over to the sink. | STEP 4: Put the 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: Turn around and walk towards the wall, then hang a right and take a step towards the white table, turn right again to face the counter. | STEP 6: Open the leftmost drawer below the counter and put the clean knife inside, then close the drawer. | END