Task: Rinse off a yellow handled knife

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          -1.25          0              90             0
   1  Glassbottle     -2.438         0.924          -1.423         0              0              0              81
   2  Glassbottle     -2.780         0.924          -1.654         0              0              0              81
   3  Pencil          -2.438         0.923          -1.193         0              0              0              81
   4  Pen             -0.457         0.918          -3.626         0              0              0              56
   5  Potato          -1.151         1.661          -3.837         0              0              0              69
   6  DishSponge      -0.747         0.081          -3.662         0              0              0              60
   7  ButterKnife     -0.600         0.915          -3.839         0              0              0              56
   8  WineBottle      -2.324         0.924          -1.654         0              0              0              81
   9  WineBottle      -2.666         0.924          -1.193         0              0              0              81
  10  Spatula         -0.293         0.930          -3.570         0              90             0              56
  11  Fork            -0.398         0.797          -2.155         0              180            0              74
  12  Spoon           -0.398         0.798          -2.008         0              270            0              74
  13  Plate           -2.666         0.925          -2.115         0              0              0              81
  14  Tomato          -0.348         1.754          -0.455         0              270            0              73
  15  Tomato          -0.441         1.162          -0.979         0              270            0              73
  16  Bowl            -2.780         0.922          -1.423         0              0              0              81
  17  Bowl            -0.422         0.080          -2.201         0              0              0              61
  18  Lettuce         -0.295         1.483          -0.874         0              270            0              73
  19  Bread           -0.343         1.443          -0.560         0              270            0              73
  20  SaltShaker      -0.449         0.743          -3.208         0              0              0              67
  21  SaltShaker      -0.538         0.077          -3.267         0              0              0              62
  22  PepperShaker    -0.365         0.912          -3.368         0              0              0              56
  23  PepperShaker    -0.391         0.743          -3.297         0              0              0              67
  24  Apple           -1.912         0.100          -3.763         0              0              0              72
  25  Apple           -2.780         0.996          -2.345         0              0              0              81
  26  Apple           -1.204         1.703          -3.936         0              0              0              69
  27  Lettuce         -0.343         1.191          -0.560         0              270            0              73
  28  Glassbottle     -2.210         0.924          -1.654         0              0              0              81
  29  Egg             -0.197         1.131          -0.455         0              270            0              73
  30  Pen             -0.457         0.918          -3.839         0              0              0              56
  31  Fork            -2.096         0.924          -1.423         0              0              0              81
  32  SoapBottle      -2.096         0.922          -0.963         0              0              0              81
  33  Pencil          -2.096         0.923          -1.884         0              0              0              81
  34  WineBottle      -0.815         0.916          -3.697         0              0              0              56
  35  Spatula         -2.438         0.938          -1.884         0              0              0              81
  36  Bread           -0.308         1.743          -0.874         0              270            0              73
  37  Tomato          -0.671         0.979          -3.485         0              0              0              56
  38  Pan             -1.515         0.935          -3.752         0              90             0              52
  39  Cup             -2.552         0.922          -0.963         0              0              0              81
  40  Pot             -2.238         0.913          -1.882         0              0              0              81
  41  SaltShaker      -0.600         0.912          -3.626         0              0              0              56
  42  Potato          -0.254         0.828          -1.860         0              270            0              74
  43  PepperShaker    -0.385         0.912          -3.839         0              0              0              56
  44  ButterKnife     -2.438         0.923          -2.115         0              0              0              81
  45  DishSponge      -2.666         0.923          -1.654         0              0              0              81
  46  Spoon           -0.457         0.916          -3.555         0              0              0              56
  47  Plate           -0.343         1.101          -0.769         0              270            0              73
  48  Knife           -2.096         0.946          -2.115         0              90             0              81
  49  Mug             -0.351         0.962          -3.144         0              270            0              70
  50  Bowl            -0.422         0.080          -1.758         0              0              0              51
  51  Cabinet         -0.582         0.388          -1.804         0              0              0
  52  StoveBurner     -1.515         0.928          -3.752         0              90             0
  53  StoveBurner     -1.515         0.928          -3.497         0              0              0
  54  StoveBurner     -1.129         0.928          -3.498         0              0              0
  55  Drawer          -0.749         0.779          -3.551         0              0              0
  56  CounterTop      -0.303         0.951          -2.793         0              0              0
  57  Cabinet         -0.883         2.140          -3.687         0              0              0
  58  Cabinet         -0.312         2.140          -1.543         0              0              0
  59  Sink            -0.349         0.907          -2.014         0              0              0
  60  Cabinet         -0.877         0.388          -3.422         0              0              0
  61  Cabinet         -0.582         0.388          -2.197         0              0              0
  62  Cabinet         -0.584         0.388          -3.396         0              0              0
  63  Cabinet         -0.312         2.140          -2.481         0              0              0
  64  Cabinet         -0.330         1.921          -3.390         0              0              0
  65  Cabinet         -1.764         2.140          -3.687         0              0              0
  66  StoveBurner     -1.129         0.928          -3.752         0              90             0
  67  Drawer          -0.454         0.779          -3.268         0              0              0
  68  Cabinet         -0.302         1.916          -2.501         0              0              0
  69  Microwave       -1.317         1.517          -3.801         0              1.440          0
  70  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  71  LightSwitch     -4.323         1.319          0.0            0              180            0
  72  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  73  Fridge          -0.330         0.0            -0.769         0              270            0
  74  SinkBasin       -0.350         0.786          -2.018         0              270            0
  75  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  77  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  78  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  79  Toaster         -0.181         0.903          -2.764         0              270            0
  80  Window          -2.503         1.782          -4.185         90             180            0
  81  DiningTable     -2.432         0.000          -1.694         0              270            0
  82  Shelf           -2.432         0.150          -1.694         0              270            0
  83  Blinds          -2.536         2.699          -3.959         0              0              0
  84  Faucet          -0.079         0.904          -2.034         270            180            0
  85  Chair           -3.264         0.002          -2.094         0              53.280         0
  86  Chair           -3.240         0.002          -1.253         0              117.257        0
  87  Shelf           -2.432         0.523          -1.694         0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn right and walk straight slightly then turn right and face to the green counter | STEP 2: Pick up the yellow handled knife from the edge of the counter | STEP 3: Turn around and walk straight up to the sink and face it | STEP 4: Place the knife in the sink and turn on the water to rinse then remove the knife | STEP 5: Turn around and walk straight up to the kitchen counter and face it | STEP 6: Place the knife on the counter | END