Task: place clean knife in drawer next to sink

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  Ladle           -0.037         1.699          -1.839         0              0              0              60
   2  Fork            -2.323         0.911          0.032          0              0              0              72
   3  Fork            1.260          0.911          -1.331         0              0              0              70
   4  Spoon           -0.288         0.774          -1.500         0              270            0              69
   5  Spoon           -2.103         0.774          -1.565         0              90             0              65
   6  Pot             1.035          0.117          -1.071         0              0              0              55
   7  Pot             -0.530         1.657          -1.839         0              0              0              52
   8  Egg             0.149          0.948          -1.808         0              270            0              49
   9  Cup             1.275          1.367          2.351          0              270            0              89
  10  Knife           1.068          0.804          0.377          0              90             0              47
  11  SoapBottle      1.381          0.214          1.08           0              0              0              87
  12  SoapBottle      0.149          0.919          -1.607         0              0              0              49
  13  Tomato          -1.835         0.950          0.204          0              0              0              72
  14  Tomato          1.375          1.407          1.976          0              270            0              89
  15  SaltShaker      -2.074         0.106          -1.438         0              0              0              73
  16  Bread           -0.552         0.989          -1.789         0              0              0              70
  17  Lettuce         1.414          1.231          -1.002         0              0              0              76
  18  Lettuce         1.426          1.436          2.226          0              270            0              89
  19  Mug             -1.886         0.905          -1.965         0              0              0              68
  20  Mug             1.052          1.650          -1.764         0              0              0              59
  21  Tomato          -2.445         0.950          0.032          0              0              0              72
  22  Glassbottle     1.476          1.368          1.725          0              270            0              89
  23  Knife           -1.886         0.940          -1.620         0              180            0              68
  24  Plate           1.342          1.656          -1.264         0              0              0              62
  25  Fork            1.343          0.911          -1.672         0              0              0              70
  26  Ladle           1.342          1.700          -1.500         0              0              0              62
  27  Potato          0.285          0.961          -1.556         0              270            0              49
  28  Lettuce         -2.201         0.979          0.118          0              0              0              72
  29  Kettle          -1.081         0.949          -1.81          0              0              0              66
  30  Pen             -2.201         0.913          0.291          0              0              0              72
  31  SaltShaker      -0.748         1.650          -1.764         0              0              0              52
  32  Cup             0.200          1.656          -1.876         0              0              0              60
  33  Egg             -2.323         0.939          0.377          0              0              0              72
  34  Spatula         1.494          1.177          -1.345         0              0              0              76
  35  Bowl            0.976          0.118          0.313          0              0              0              53
  36  SprayBottle     -0.718         0.111          -1.681         0              0              0              57
  37  Pan             -1.431         0.949          -1.81          0              0              0              80
  38  SoapBottle      -1.810         1.655          -1.807         0              90             0              51
  39  Pot             1.414          1.164          -1.688         0              0              0              76
  40  ButterKnife     -0.682         0.9            -1.71          0              14.999         0              70
  41  PepperShaker    0.110          0.109          -1.678         0              90             0              67
  42  DishSponge      -1.732         0.910          -1.448         0              0              0              68
  43  Bread           -2.079         0.988          0.463          0              0              0              72
  44  Apple           1.325          1.402          2.101          0              270            0              89
  45  Spoon           0.949          0.776          -1.233         0              90             0              48
  46  Mug             0.183          0.914          -1.708         0              270            0              49
  47  Drawer          0.860          0.75           0.430          0              0              0
  48  Drawer          0.871          0.75           -1.134         0              0              0
  49  Sink            0.156          0.817          -1.801         0              270            0
  50  Cabinet         -0.868         2.005          -1.690         0              0              0
  51  Cabinet         -1.661         2.059          -1.684         0              90             0
  52  Cabinet         -0.817         2.059          -1.689         0              0              0
  53  Cabinet         0.860          0.402          0.665          0              0              0
  54  Cabinet         0.860          0.402          -0.552         0              0              0
  55  Cabinet         0.860          0.402          -1.365         0              0              0
  56  Cabinet         -0.244         0.402          -1.389         0              0              0
  57  Cabinet         -0.815         0.402          -1.389         0              0              0
  58  Cabinet         1.159          2.059          -0.334         0              0              0
  59  Cabinet         0.488          2.059          -1.689         0              0              0
  60  Cabinet         -0.193         2.059          -1.689         0              0              0
  61  Drawer          0.860          0.75           -0.699         0              0              0
  62  Cabinet         1.159          2.059          -1.019         0              0              0
  63  Cabinet         -1.611         2.005          -1.690         0              0              0
  64  Cabinet         0.832          0.401          -1.393         0              90             0
  65  Drawer          -2.105         0.75           -1.389         0              0              0
  66  StoveBurner     -1.081         0.941          -1.809         0              0              0
  67  Cabinet         -0.202         0.401          -1.391         0              90             0
  68  CounterTop      -1.973         0.945          -1.707         0              0              0
  69  Drawer          -0.375         0.75           -1.389         0              0              0
  70  CounterTop      1.164          0.946          -0.649         0              0              0
  71  StoveBurner     -1.081         0.941          -1.527         0              0              0
  72  CounterTop      -2.096         0.945          0.291          0              0              0
  73  Cabinet         -2.237         0.402          -1.389         0              0              0
  74  Drawer          0.584          0.75           -1.389         0              0              0
  75  Drawer          -1.795         0.75           -1.389         0              0              0
  76  CounterTop      1.5            1.197          -0.654         0              0              0
  77  Cabinet         -1.667         0.402          -1.389         0              0              0
  78  StoveBurner     -1.430         0.941          -1.525         0              0              0
  79  Drawer          -0.685         0.75           -1.389         0              0              0
  80  StoveBurner     -1.430         0.941          -1.809         0              0              0
  81  LightSwitch     -2.539         1.289          2.568          0              90             0
  82  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  83  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  84  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  85  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  86  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  87  GarbageCan      1.343          0.015          1.041          0              0              0
  88  HousePlant      1.440          1.153          0.593          0              0              0
  89  Fridge          1.417          0.0            2.101          0              0              0
  90  Window          -0.486         1.452          3.302          90             0              0
  91  SinkBasin       -0.063         0.765          -1.713         0              270            0
  92  Microwave       1.422          1.150          0.022          0              270            0
  93  Toaster         -2.066         0.900          -1.848         0              0              0
  94  Stool           -1.994         0.010          0.882          0              0              0
  95  Faucet          -0.096         1.041          -1.867         0              270            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: turn around, go to counter to the left of stove with loaf of bread | STEP 2: pick up knife to the right of bread on counter | STEP 3: go to sink to the right | STEP 4: put knife in sink, turn on water, turn off water, pick up knife from sink | STEP 5: go to top drawer to the left of sink | STEP 6: place knife in drawer to left of sink, close drawer | END