Task: Clean a knife to put it away.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -1.0           0              0              0
   1  Pan             -0.569         1.328          -1.809         0              270            0              46
   2  DishSponge      -2.203         0.951          0.165          0              90             0              85
   3  DishSponge      0.394          0.108          -1.434         0              180            0              49
   4  ButterKnife     0.701          0.919          -1.649         0              270            0              50
   5  ButterKnife     1.785          0.912          0.623          0              0              0              67
   6  Pot             1.007          0.962          0.561          0              270            0              54
   7  Fork            -2.065         0.952          0.614          0              90             0              85
   8  Fork            -2.614         0.952          0.255          0              90             0              85
   9  Spoon           0.649          0.920          -1.649         0              270            0              50
  10  Spatula         1.724          0.927          0.540          0              90             0              67
  11  Egg             -1.872         1.522          -1.763         0              0              0              82
  12  Cup             1.905          0.106          0.236          0              0              0              60
  13  Plate           -1.791         0.953          0.614          0              90             0              85
  14  Plate           -0.538         0.111          -1.508         0              0              0              66
  15  Knife           1.785          0.937          0.458          0              0              0              67
  16  Tomato          -1.791         1.001          0.255          0              90             0              85
  17  Bowl            -2.065         0.951          0.255          0              90             0              85
  18  Bowl            -0.096         0.110          -1.545         0              0              0              61
  19  SaltShaker      1.724          0.908          0.209          0              0              0              67
  20  PepperShaker    1.846          0.908          0.375          0              0              0              67
  21  Apple           -0.296         0.137          0.612          0              90             0              81
  22  Apple           -2.222         1.118          -1.720         0              0              0              82
  23  Bread           -0.451         0.995          -1.820         0              0              0              52
  24  Knife           -2.203         0.977          0.435          0              180            0              85
  25  Fork            0.697          0.912          0.209          0              0              0              51
  26  Bowl            0.035          0.911          0.292          0              0              0              51
  27  Kettle          -2.477         0.953          0.255          0              270            0              85
  28  Cup             -2.614         0.950          0.435          0              90             0              85
  29  Tomato          -2.065         1.001          0.524          0              90             0              85
  30  SoapBottle      -0.427         0.068          0.525          0              90             0              81
  31  Plate           1.535          0.913          -1.737         0              0              0              52
  32  Pot             1.361          0.962          0.561          0              270            0              57
  33  Spatula         -2.340         0.967          0.345          0              270            0              85
  34  PaperTowelRoll  -2.203         1.056          0.614          0              90             0              85
  35  Egg             0.649          0.954          -1.582         0              270            0              50
  36  Lettuce         0.035          1.002          0.623          0              0              0              51
  37  SaltShaker      -2.203         0.948          0.524          0              90             0              85
  38  PepperShaker    -2.340         0.948          0.345          0              90             0              85
  39  Apple           -1.027         1.082          -1.770         0              0              0              74
  40  ButterKnife     -0.082         0.912          -1.820         0              0              0              52
  41  Potato          -2.477         0.982          0.524          0              90             0              85
  42  Pan             1.022          0.959          0.288          0              219.190        0              64
  43  DishSponge      1.903          0.911          -1.737         0              0              0              52
  44  Spoon           1.785          0.913          0.292          0              90             0              67
  45  Mug             -2.135         0.775          -1.806         0              0              0              82
  46  Cabinet         -0.193         1.688          -1.648         0              180            0
  47  StoveBurner     1.360          0.957          0.293          0              180            0
  48  Drawer          0.499          0.792          0.296          0              0              0
  49  Cabinet         0.095          0.400          -1.352         0              180            0
  50  Sink            0.711          0.817          -1.772         0              270            0
  51  CounterTop      0.280          0.947          0.458          0              0              0
  52  CounterTop      -0.680         0.947          -1.654         0              0              0
  53  Drawer          1.825          0.792          0.296          0              0              0
  54  StoveBurner     1.007          0.957          0.561          0              270            0
  55  Drawer          -0.150         0.792          -1.496         0              0              0
  56  Drawer          -0.586         0.792          -1.496         0              0              0
  57  StoveBurner     1.360          0.957          0.561          0              270            0
  58  Drawer          0.024          0.792          0.296          0              0              0
  59  Cabinet         1.079          0.400          -1.349         0              180            0
  60  Cabinet         1.669          0.402          0.151          0              0              0
  61  Cabinet         0.055          0.402          -1.351         0              0              0
  62  Cabinet         -0.180         0.402          0.151          0              0              0
  63  Cabinet         0.729          0.402          0.151          0              0              0
  64  StoveBurner     1.007          0.957          0.293          0              180            0
  65  Drawer          -1.100         0.792          -1.496         0              0              0
  66  Cabinet         -0.396         0.402          -1.351         0              0              0
  67  CounterTop      1.776          0.947          0.458          0              0              0
  68  Cabinet         1.974          1.688          -1.648         0              180            0
  69  Cabinet         -0.820         0.400          -1.349         0              180            0
  70  Toaster         0.305          0.900          0.552          0              180            0
  71  LightSwitch     -2.756         1.307          -0.987         0              90             0
  72  Window          0.582          1.613          -1.967         90             0              0
  73  Window          1.969          1.5            -0.615         90             270            0
  74  Microwave       -1.037         0.900          -1.723         0              0              0
  75  SinkBasin       0.377          0.765          -1.655         0              270            0
  76  CoffeeMachine   0.618          0.900          0.600          0              180            0
  77  StoveKnob       1.246          0.913          0.118          45             180            0
  78  StoveKnob       1.373          0.913          0.118          45             180            0
  79  StoveKnob       0.995          0.913          0.118          45             180            0
  80  StoveKnob       1.126          0.913          0.118          45             180            0
  81  GarbageCan      -0.368         -0.029         0.539          0              90             0
  82  Fridge          -2.134         0.0            -1.690         0              0              0
  83  Faucet          0.549          1.046          -1.833         0              232.527        0
  84  Stool           -1.475         0.000          0.414          1.233          280.375        0
  85  DiningTable     -2.255         -0.004         0.432          0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around to the right and locate the sink. | STEP 2: Pick up the knife from the counter. | STEP 3: Keep the knife, and turn to the right just a bit by the sink. | STEP 4: Put the knife in the sink and turn the water on. Turn the water off and pick up the knife. | STEP 5: Take the knife and turn around the counter directly behind. | STEP 6: Open the left top drawer and put the knife inside. Shut the drawer. | END