Task: wash the knife on the counter, put it back

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           0.869          -2.0           0              270            0
   1  Pan             -1.056         0.899          1.015          0              0              0              64
   2  DishSponge      0.623          0.759          -0.124         0              0              0              37
   3  DishSponge      -1.224         0.051          -3.574         0              270            0              53
   4  ButterKnife     0.149          0.900          1.101          0              270            0              64
   5  ButterKnife     -0.855         0.900          1.187          0              270            0              64
   6  Spatula         -0.252         0.915          1.015          0              180            0              64
   7  Spoon           0.877          0.884          -0.039         0              0              0              38
   8  Fork            0.901          0.665          0.508          0              0              0              43
   9  Knife           0.961          0.687          0.448          0              90             0              43
  10  SoapBottle      0.781          0.663          0.569          0              0              0              43
  11  SaltShaker      0.803          0.879          -0.176         0              0              0              38
  12  SaltShaker      1.025          0.879          -0.913         0              0              0              38
  13  Lettuce         0.799          0.859          -0.735         0              270            0              61
  14  Lettuce         0.661          0.752          0.387          0              0              0              43
  15  Mug             0.949          1.458          -0.022         0              0              0              49
  16  Pot             -2.097         0.930          1.049          0              0              0              45
  17  Plate           -2.023         0.692          -1.447         0              0              0              74
  18  Fork            0.769          0.760          0.002          0              270            0              37
  19  SoapBottle      -1.334         0.051          -3.611         0              270            0              53
  20  Apple           0.901          0.718          0.630          0              0              0              43
  21  Pan             -1.552         0.930          0.785          0              0              0              42
  22  Egg             -1.224         0.088          -3.684         0              270            0              53
  23  Spatula         -1.719         0.716          -1.416         0              90             0              74
  24  Potato          0.901          0.698          0.448          0              0              0              43
  25  Cup             0.676          0.014          -0.250         0              0              0              48
  26  SaltShaker      -1.578         0.692          -3.445         0              0              0              65
  27  PepperShaker    -1.578         0.692          -3.361         0              0              0              65
  28  ButterKnife     0.671          0.760          -0.188         0              0              0              37
  29  DishSponge      0.672          0.772          -0.735         0              270            0              61
  30  Bread           -0.252         0.944          0.843          0              270            0              64
  31  Lettuce         0.785          0.751          -1.880         0              270            0              58
  32  Tomato          -1.599         0.744          -3.782         0              0              0              65
  33  Spoon           0.721          0.665          0.326          0              180            0              43
  34  Knife           -1.719         0.724          -0.983         0              0              0              74
  35  Mug             0.787          0.010          -0.053         0              0              0              48
  36  Bowl            -0.051         0.899          1.187          0              270            0              64
  37  Drawer          0.706          0.766          -0.125         0              0              0
  38  CounterTop      0.792          0.919          -0.108         0              0              0
  39  Mirror          1.093          1.602          -0.643         0              0              0
  40  StoveBurner     -2.096         0.890          0.785          0              0              0
  41  Cabinet         0.507          0.345          -0.426         0              0              0
  42  StoveBurner     -1.552         0.890          0.785          0              0              0
  43  SideTable       0.770          -0.030         0.443          0              0              0
  44  Sink            0.753          0.882          -0.680         0              0              0
  45  StoveBurner     -2.096         0.890          1.049          0              0              0
  46  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  47  StoveBurner     -1.554         0.890          1.049          0              0              0
  48  Cabinet         0.507          0.345          0.156          0              0              0
  49  Cabinet         0.717          1.822          -0.398         0              0              0
  50  Cabinet         0.717          1.822          0.669          0              0              0
  51  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  52  Toaster         -0.522         0.886          1.081          0              180            0
  53  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  54  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  56  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  58  Fridge          0.680          -0.031         -1.957         0              0              0
  59  Window          -2.424         1.639          -2.453         90             270            0
  60  Microwave       -1.994         0.690          -3.651         0              0              0
  61  SinkBasin       0.757          0.762          -0.688         0              270            0
  62  LightSwitch     1.102          1.368          -3.737         0              270            0
  63  Shelf           -0.350         0.124          0.857          0              0              0
  64  DiningTable     -0.350         -0.025         0.857          0              0              0
  65  DiningTable     -1.909         -0.032         -3.507         0              0              0
  66  Blinds          -2.343         2.151          -2.437         0              270            0
  67  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  68  AluminumFoil    0.751          0.225          0.287          0              0              0
  69  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  70  Shelf           0.771          0.226          0.445          0              0              0
  71  Shelf           0.771          0.456          0.446          0              0              0
  72  Faucet          1.025          0.873          -0.678         270            180            0
  73  Shelf           -0.350         0.497          0.857          0              0              0
  74  DiningTable     -1.929         -0.035         -1.398         0              90             0
  75  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn right, walk to the shelf, turn right | STEP 2: Grab the knife from the shelf by the counter | STEP 3: turn right, walk to the sink | STEP 4: put the knife in the sink, wash the knife with water,take the knife | STEP 5: turn around and turn around | STEP 6: put the knife back on the shelf by the counter | END