Task: To put the knife in the drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          2.75           0              0              0
   1  Pan             -1.081         0.949          -1.81          0              0              0              73
   2  Pen             -2.019         0.775          -1.500         0              90             0              72
   3  Pen             1.375          1.164          -1.002         0              0              0              83
   4  Potato          -2.445         0.952          0.032          0              0              0              79
   5  Potato          -2.079         0.952          0.549          0              0              0              79
   6  Ladle           1.260          0.955          -0.990         0              0              0              77
   7  ButterKnife     -2.079         0.910          0.463          0              0              0              79
   8  ButterKnife     -2.079         0.910          0.032          0              0              0              79
   9  DishSponge      -1.765         0.772          -1.532         0              0              0              82
  10  DishSponge      1.283          1.655          -0.658         0              0              0              65
  11  Glassbottle     -1.835         0.911          0.377          0              0              0              79
  12  Fork            -2.116         0.911          -1.448         0              0              0              75
  13  Fork            -0.703         0.911          -1.704         0              0              0              77
  14  Spoon           0.697          0.774          -1.566         0              90             0              81
  15  Spatula         1.080          0.789          -1.178         0              90             0              55
  16  Pot             -2.201         0.912          0.118          0              0              0              79
  17  Pot             -1.431         0.949          -1.525         0              0              0              85
  18  Egg             -1.809         0.939          -1.965         0              0              0              75
  19  Cup             1.473          1.265          -0.021         0              270            0              99
  20  Plate           -0.675         1.656          -1.839         0              0              0              59
  21  Plate           1.388          1.720          1.838          0              270            0              96
  22  Knife           1.015          0.802          -1.068         0              270            0              55
  23  Knife           0.251          0.949          -1.657         0              270            0              56
  24  Tomato          -2.323         0.950          0.377          0              0              0              79
  25  PepperShaker    -2.039         0.905          -1.448         0              0              0              75
  26  Lettuce         -1.712         0.979          0.291          0              0              0              79
  27  Lettuce         1.426          1.436          1.725          0              270            0              96
  28  Tomato          1.302          0.254          1.08           0              0              0              94
  29  Glassbottle     -1.524         1.859          -1.910         0              0              0              70
  30  Knife           0.916          0.802          -1.123         0              90             0              55
  31  Plate           1.093          0.115          -1.071         0              0              0              62
  32  Fork            -1.712         0.911          0.463          0              0              0              79
  33  Ladle           -1.809         0.954          -1.448         0              0              0              75
  34  Potato          1.476          1.409          2.225          0              270            0              96
  35  Lettuce         -1.957         0.979          0.291          0              0              0              79
  36  Kettle          1.375          1.163          -1.688         0              0              0              83
  37  Pen             1.381          0.217          1.08           0              0              0              94
  38  SaltShaker      -0.627         0.906          -1.448         0              0              0              77
  39  Cup             -1.886         0.910          -1.965         0              0              0              75
  40  Egg             0.217          0.948          -1.859         0              270            0              56
  41  Spatula         1.533          1.177          -0.659         0              90             0              83
  42  Bowl            1.520          1.656          -1.264         0              0              0              69
  43  SprayBottle     -1.835         0.909          0.118          0              0              0              79
  44  Pan             -1.079         0.945          -1.528         0              0              0              78
  45  SoapBottle      1.207          0.114          -0.736         0              0              0              61
  46  Pot             -1.431         0.949          -1.81          0              0              0              87
  47  ButterKnife     -0.401         0.911          -1.874         0              0              0              77
  48  PepperShaker    -1.886         0.905          -1.707         0              0              0              75
  49  DishSponge      1.459          0.214          1.051          0              0              0              94
  50  Bread           1.260          0.989          -1.331         0              0              0              77
  51  Apple           1.275          1.402          2.101          0              270            0              96
  52  Spoon           1.260          0.912          0.372          0              0              0              54
  53  Mug             -0.386         1.650          -1.801         0              0              0              59
  54  Drawer          0.860          0.75           0.430          0              0              0
  55  Drawer          0.871          0.75           -1.134         0              0              0
  56  Sink            0.156          0.817          -1.801         0              270            0
  57  Cabinet         -0.868         2.005          -1.690         0              0              0
  58  Cabinet         -1.661         2.059          -1.684         0              90             0
  59  Cabinet         -0.817         2.059          -1.689         0              0              0
  60  Cabinet         0.860          0.402          0.665          0              0              0
  61  Cabinet         0.860          0.402          -0.552         0              0              0
  62  Cabinet         0.860          0.402          -1.365         0              0              0
  63  Cabinet         -0.244         0.402          -1.389         0              0              0
  64  Cabinet         -0.815         0.402          -1.389         0              0              0
  65  Cabinet         1.159          2.059          -0.334         0              0              0
  66  Cabinet         0.488          2.059          -1.689         0              0              0
  67  Cabinet         -0.193         2.059          -1.689         0              0              0
  68  Drawer          0.860          0.75           -0.699         0              0              0
  69  Cabinet         1.159          2.059          -1.019         0              0              0
  70  Cabinet         -1.611         2.005          -1.690         0              0              0
  71  Cabinet         0.832          0.401          -1.393         0              90             0
  72  Drawer          -2.105         0.75           -1.389         0              0              0
  73  StoveBurner     -1.081         0.941          -1.809         0              0              0
  74  Cabinet         -0.202         0.401          -1.391         0              90             0
  75  CounterTop      -1.973         0.945          -1.707         0              0              0
  76  Drawer          -0.375         0.75           -1.389         0              0              0
  77  CounterTop      1.164          0.946          -0.649         0              0              0
  78  StoveBurner     -1.081         0.941          -1.527         0              0              0
  79  CounterTop      -2.096         0.945          0.291          0              0              0
  80  Cabinet         -2.237         0.402          -1.389         0              0              0
  81  Drawer          0.584          0.75           -1.389         0              0              0
  82  Drawer          -1.795         0.75           -1.389         0              0              0
  83  CounterTop      1.5            1.197          -0.654         0              0              0
  84  Cabinet         -1.667         0.402          -1.389         0              0              0
  85  StoveBurner     -1.430         0.941          -1.525         0              0              0
  86  Drawer          -0.685         0.75           -1.389         0              0              0
  87  StoveBurner     -1.430         0.941          -1.809         0              0              0
  88  LightSwitch     -2.539         1.289          2.568          0              90             0
  89  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  90  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  91  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  92  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  93  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  94  GarbageCan      1.343          0.015          1.041          0              0              0
  95  HousePlant      1.440          1.153          0.593          0              0              0
  96  Fridge          1.417          0.0            2.101          0              0              0
  97  Window          -0.486         1.452          3.302          90             0              0
  98  SinkBasin       -0.063         0.765          -1.713         0              270            0
  99  Microwave       1.422          1.150          0.022          0              270            0
 100  Toaster         -2.066         0.900          -1.848         0              0              0
 101  Stool           -1.994         0.010          0.882          0              0              0
 102  Faucet          -0.096         1.041          -1.867         0              270            0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn around and walk across the room to the counter. | STEP 2: Pick up the knife next to the sink. | STEP 3: Turn to the left.  | STEP 4: Open the drawer on the right, to the left of the sink, and place the knife inside.  | END