Task: Find and clean a knife before placing it 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           -2.0           0.900          1.5            0              180            0
   1  ButterKnife     -0.556         0.901          -1.365         0              0              0              73
   2  ButterKnife     -1.933         0.911          -1.115         0              0              0              73
   3  Kettle          -0.156         1.663          -1.397         0              0              0              60
   4  Spoon           -1.159         0.852          -1.305         0              0              0              83
   5  Spoon           0.359          0.748          -1.052         0              0              0              74
   6  Fork            0.336          1.112          0.921          0              225            0              66
   7  Fork            -2.585         0.747          0.036          0              0              0              71
   8  Spatula         -1.332         0.864          -1.194         0              0              0              83
   9  Cup             -2.740         0.818          0.690          0              90             0              85
  10  Cup             -1.246         0.848          -1.360         0              0              0              83
  11  Plate           -2.847         1.666          0.233          0              0              0              59
  12  SoapBottle      -2.521         0.912          0.190          0              0              0              65
  13  Bowl            -2.553         0.114          0.169          0              0              0              54
  14  Lettuce         0.721          1.190          1.306          0              315            0              66
  15  Lettuce         0.625          1.190          1.556          0              315            0              66
  16  PepperShaker    -2.774         2.039          0.718          0              0              0              63
  17  PepperShaker    -2.521         0.907          -0.062         0              0              0              65
  18  Bread           -2.800         0.432          0.852          0              90             0              85
  19  Mug             0.413          1.106          0.998          0              315            0              66
  20  Mug             -2.740         1.468          0.690          0              90             0              85
  21  Pan             0.836          1.110          0.729          0              315            0              66
  22  Apple           0.284          1.154          1.580          0              0              0              66
  23  Fork            -2.236         0.911          -1.199         0              0              0              73
  24  Kettle          -2.620         0.922          -0.724         0              0              0              64
  25  CreditCard      0.997          0.9            -0.982         0              334.941        0              73
  26  Bread           -0.401         0.948          -1.292         0              0              0              73
  27  Plate           -2.800         0.821          1.013          0              90             0              85
  28  SoapBottle      -1.982         0.117          -1.093         0              0              0              49
  29  Spatula         0.394          1.126          1.325          0              315            0              66
  30  Lettuce         -2.757         0.115          1.466          0              0              0              84
  31  SaltShaker      -2.695         0.9            -0.132         0              0              0              65
  32  Tomato          0.203          1.152          1.056          0              0              0              66
  33  PepperShaker    0.765          0.907          -1.282         0              0              0              73
  34  ButterKnife     0.842          0.911          -0.948         0              0              0              73
  35  Pot             -2.823         0.928          -0.396         0              0              0              72
  36  Potato          -0.598         0.933          -1.119         0              47.530         0              73
  37  DishSponge      -1.221         0.841          -1.126         0              41.164         0              83
  38  Egg             0.136          1.136          1.274          0              0              0              66
  39  Spoon           0.688          0.912          -0.948         0              0              0              73
  40  Knife           0.060          1.106          1.587          270            209.997        0              66
  41  Cup             -2.936         0.909          0.021          0              0              0              65
  42  Mug             0.861          1.657          -1.397         0              0              0              51
  43  Bowl            -2.740         1.473          0.932          0              90             0              85
  44  Cabinet         -2.647         2.075          -0.875         0              0              0
  45  Cabinet         -2.647         2.075          -0.234         0              0              0
  46  Cabinet         -0.824         0.469          -0.907         0              0              0
  47  Cabinet         -1.764         2.009          -1.197         0              0              0
  48  Cabinet         -1.834         2.009          -1.197         0              0              0
  49  Cabinet         -1.850         0.389          -0.897         0              0              0
  50  Cabinet         -1.801         0.469          -0.907         0              0              0
  51  Cabinet         1.115          2.009          -1.197         0              0              0
  52  Cabinet         0.235          2.009          -1.197         0              0              0
  53  Cabinet         1.125          0.470          -0.897         0              0              0
  54  Cabinet         -2.387         0.389          0.375          0              0              0
  55  Cabinet         0.484          0.389          -0.897         0              0              0
  56  Cabinet         -2.625         2.009          -1.197         0              0              0
  57  Cabinet         -2.647         2.009          -0.945         0              0              0
  58  Cabinet         -2.647         2.200          1.664          0              0              0
  59  Cabinet         -2.647         2.009          0.364          0              0              0
  60  Cabinet         0.164          2.009          -1.197         0              0              0
  61  Cabinet         -0.765         2.009          -1.197         0              0              0
  62  Cabinet         -0.834         2.009          -1.197         0              0              0
  63  Cabinet         -2.647         2.200          0.434          0              0              0
  64  StoveBurner     -2.622         0.886          -0.711         0              0              0
  65  CounterTop      -2.699         0.946          0.106          0              0              0
  66  CounterTop      0.908          1.147          0.788          0              315            0
  67  StoveBurner     -2.622         0.886          -0.396         0              0              0
  68  Drawer          -2.026         0.779          -1.082         0              0              0
  69  Sink            -1.328         0.916          -1.225         0              0              0
  70  StoveBurner     -2.822         0.886          -0.711         0              0              0
  71  Drawer          -2.572         0.779          0.099          0              0              0
  72  StoveBurner     -2.822         0.886          -0.396         0              0              0
  73  CounterTop      0.071          0.946          -1.199         0              0              0
  74  Drawer          0.254          0.779          -1.082         0              0              0
  75  LightSwitch     -1.167         1.307          3.0            0              180            0
  76  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  77  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  78  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  79  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  80  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  81  Window          0.321          1.449          3.088          90             0              0
  82  Toaster         -2.823         0.899          0.246          0              90             0
  83  SinkBasin       -1.344         0.838          -1.25          0              0              0
  84  GarbageCan      -2.757         1.886          1.466          0              0              0
  85  Fridge          -2.855         0.0            0.851          0              0              0
  86  Microwave       0.283          0.900          -1.331         0              0              0
  87  Stool           1.541          0.010          1.328          0              45             0
  88  Stool           0.983          0.010          1.793          0              47.459         0
  89  Faucet          -1.392         1.136          -1.399         0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn left and walk towards the oval counter  | STEP 2: Pick up the knife on the counter | STEP 3: Turn right, walk towards the sink | STEP 4: Place the knife in the sink, turn on the faucet to fill the sink with water, turn off the faucet, and retrieve the knife from the sink | STEP 5: Turn right and face the stove | STEP 6: Open the top drawer to the right of the oven and place the knife in. Close the drawer | END