Task: Put a cleaned knife in a drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          -0.75          0              270            0
   1  Potato          1.785          0.942          0.706          0              0              0              67
   2  ButterKnife     -1.928         0.952          0.345          0              180            0              85
   3  Fork            -2.477         0.952          0.435          0              180            0              85
   4  Spoon           0.856          0.920          -1.582         0              0              0              50
   5  Spatula         1.903          0.927          -1.406         0              0              0              52
   6  Egg             -0.872         1.050          -1.770         0              0              0              74
   7  Egg             -1.027         1.050          -1.803         0              0              0              74
   8  Plate           0.071          0.107          0.320          0              0              0              62
   9  Knife           0.035          0.937          0.375          0              180            0              51
  10  Knife           -2.203         0.977          0.255          0              90             0              85
  11  SoapBottle      0.804          0.918          -1.649         0              270            0              50
  12  SoapBottle      -0.427         0.068          0.482          0              90             0              81
  13  Tomato          -0.394         0.119          0.612          0              90             0              81
  14  Tomato          -0.175         0.961          -1.406         0              0              0              52
  15  Bowl            -1.791         0.951          0.255          0              90             0              85
  16  SaltShaker      0.271          0.104          -1.509         0              180            0              49
  17  PepperShaker    0.455          0.104          -1.434         0              180            0              49
  18  PepperShaker    -0.586         0.107          -1.582         0              0              0              66
  19  Lettuce         1.846          1.002          0.540          0              0              0              67
  20  Lettuce         -2.065         1.042          0.614          0              90             0              85
  21  Mug             -0.491         0.105          -1.508         0              0              0              66
  22  Mug             0.701          0.914          -1.715         0              90             0              50
  23  Bread           1.658          0.995          -1.737         0              0              0              52
  24  Knife           -2.065         0.977          0.435          0              90             0              85
  25  Fork            1.781          0.912          -1.737         0              0              0              52
  26  Bowl            1.663          0.911          0.292          0              0              0              67
  27  Kettle          -0.055         0.9            0.643          0              0              0              51
  28  Cup             -2.31          1.050          -1.849         0              0              0              82
  29  Tomato          -2.047         0.560          -1.677         0              0              0              82
  30  SoapBottle      -0.296         0.068          0.526          0              90             0              81
  31  Plate           0.504          0.111          0.308          0              0              0              63
  32  Pot             -2.383         0.94           0.583          0              0              0              85
  33  Spatula         1.601          0.927          0.458          0              90             0              67
  34  PaperTowelRoll  1.907          1.016          0.209          0              0              0              67
  35  Egg             -0.329         0.105          0.396          0              90             0              81
  36  Lettuce         -1.791         1.042          0.614          0              90             0              85
  37  SaltShaker      1.907          0.908          0.706          0              0              0              67
  38  PepperShaker    0.300          0.908          0.209          0              0              0              51
  39  Apple           0.432          0.979          0.292          0              0              0              51
  40  ButterKnife     1.785          0.912          0.458          0              0              0              67
  41  Potato          -0.872         1.045          -1.671         0              0              0              74
  42  Pan             1.361          0.962          0.294          0              180            0              47
  43  DishSponge      0.009          0.911          -1.654         0              0              0              52
  44  Spoon           1.535          0.913          -1.654         0              0              0              52
  45  Mug             1.905          0.103          0.385          0              0              0              60
  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: Move to the counter right of the stove. | STEP 2: Pick up the knife from the counter.  | STEP 3: Bring the knife to the sink. | STEP 4: Wash the knife in the sink. | STEP 5: Bring the knife to the counter. | STEP 6: Put knife in the drawer.  | END