Task: place a clean knife in a drawer under the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          -0.75          0              180            0
   1  CellPhone       -1.462         0.909          -1.707         0              0              0              70
   2  Kettle          -1.244         0.114          -1.296         0              0              0              82
   3  DishSponge      1.273          0.108          -1.416         0              0              0              63
   4  DishSponge      -1.764         1.661          -1.131         0              90             0              57
   5  ButterKnife     1.713          0.470          0.047          0              0              0              66
   6  Spoon           -0.213         0.926          0.506          0              0              0              78
   7  Spatula         -0.106         0.940          0.738          0              180            0              78
   8  Pot             -0.213         0.929          -0.190         0              0              0              78
   9  Pot             -0.213         0.929          0.738          0              0              0              78
  10  Egg             1.956          1.063          -0.861         0              270            0              91
  11  Egg             0.256          0.817          -1.435         0              0              0              94
  12  Cup             -1.645         1.467          0.107          0              90             0              93
  13  Cup             1.956          1.004          -0.704         0              270            0              91
  14  Plate           0.214          0.924          0.738          0              0              0              78
  15  SoapBottle      -1.880         1.665          -1.282         0              90             0              57
  16  SoapBottle      0.107          0.929          0.970          0              0              0              78
  17  Tomato          -1.796         0.097          1.371          0              270            0              84
  18  Tomato          -0.320         0.980          0.273          0              0              0              78
  19  PepperShaker    1.117          0.105          -1.479         0              0              0              63
  20  PepperShaker    1.710          0.691          0.478          0              0              0              71
  21  Mug             0.083          0.755          -1.380         0              90             0              94
  22  Mug             0.250          0.107          -1.597         0              0              0              59
  23  Apple           0.083          0.813          -1.490         0              0              0              94
  24  Apple           -1.814         0.964          -1.013         0              0              0              70
  25  SoapBottle      -0.213         0.929          0.041          0              0              0              78
  26  Cup             1.218          1.677          -1.652         0              0              0              69
  27  Pot             1.975          0.938          0.819          0              180            0              80
  28  Fork            -1.902         0.912          -0.914         0              0              0              70
  29  Ladle           -1.050         0.955          -1.318         0              0              0              70
  30  Kettle          1.765          0.938          0.384          0              180            0              73
  31  Egg             -0.175         0.817          -1.490         0              0              0              94
  32  Plate           0.214          0.924          0.273          0              0              0              78
  33  Pan             -1.286         0.9            -1.348         0              79.769         0              70
  34  Lettuce         1.746          0.988          -0.053         0              0              0              70
  35  Spatula         -0.106         0.940          0.506          0              180            0              78
  36  Apple           -1.750         1.522          0.201          0              90             0              93
  37  Knife           0.107          0.947          1.202          0              0              0              78
  38  SaltShaker      1.560          0.691          -0.145         0              0              0              54
  39  PepperShaker    -0.137         0.111          -1.222         0              0              0              49
  40  CellPhone       1.712          0.543          1.284          0              0              0              68
  41  ButterKnife     1.713          0.579          0.667          0              0              0              74
  42  Bread           -0.638         0.992          -1.415         0              0              0              70
  43  Tomato          -1.750         1.524          -0.175         0              90             0              93
  44  Potato          -1.771         1.053          -0.269         0              90             0              93
  45  DishSponge      1.764          0.469          -0.088         0              0              0              66
  46  Spoon           -0.106         0.926          0.273          0              0              0              78
  47  Mug             0.000          0.920          0.970          0              0              0              78
  48  Bowl            0.661          0.909          -1.318         0              0              0              70
  49  Cabinet         -0.495         0.474          -1.149         0              0              0
  50  Window          -0.010         1.582          -1.821         0              0              0
  51  Drawer          0.805          0.475          -1.159         0              0              0
  52  StoveBurner     1.764          0.902          0.601          0              270            0
  53  Drawer          1.5            0.196          -0.019         0              0              0
  54  Drawer          1.5            0.629          -0.018         0              0              0
  55  Drawer          1.5            0.602          -0.019         0              270            0
  56  StoveBurner     1.975          0.902          0.384          0              270            0
  57  Cabinet         -1.703         2.022          -1.453         0              90             0
  58  Cabinet         1.789          2.019          -0.819         0              270            0
  59  Cabinet         0.494          0.474          -1.149         0              0              0
  60  Cabinet         0.409          0.475          0.444          0              0              0
  61  Drawer          -0.696         0.475          -1.159         0              0              0
  62  Drawer          1.5            0.140          0.599          0              270            0
  63  Cabinet         1.389          0.474          -1.149         0              0              0
  64  Drawer          1.5            0.305          0.600          0              0              0
  65  StoveBurner     1.975          0.902          0.601          0              270            0
  66  Drawer          1.5            0.429          -0.019         0              0              0
  67  StoveBurner     1.764          0.902          0.819          0              270            0
  68  Drawer          1.5            0.519          1.220          0              0              0
  69  Cabinet         1.705          2.019          -1.449         0              0              0
  70  CounterTop      0.002          0.947          -1.513         0              0              0
  71  Drawer          1.5            0.629          0.605          0              0              0
  72  Cabinet         -0.627         2.019          -1.449         0              0              0
  73  StoveBurner     1.764          0.902          0.384          0              270            0
  74  Drawer          1.5            0.538          0.600          0              0              0
  75  Sink            0.0            0.893          -1.434         0              0              0
  76  Drawer          1.5            0.782          1.220          0              270            0
  77  Window          2.217          1.565          -0.384         0              0              0
  78  CounterTop      -0.014         0.961          0.505          0              0              0
  79  Drawer          1.5            0.200          1.220          0              0              0
  80  StoveBurner     1.975          0.902          0.819          0              270            0
  81  Window          -3.240         1.616          2.693          0              270            0
  82  Cabinet         -1.389         0.474          -1.149         0              0              0
  83  LightSwitch     -0.153         1.291          3.700          0              180            0
  84  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  85  StoveKnob       1.602          0.917          0.570          0              270            180
  86  StoveKnob       1.602          0.917          0.625          0              270            180
  87  StoveKnob       1.602          0.917          0.739          0              270            180
  88  StoveKnob       1.602          0.917          0.680          0              270            180
  89  StoveKnob       1.602          0.917          0.462          0              270            180
  90  StoveKnob       1.602          0.917          0.517          0              270            180
  91  Microwave       1.932          0.899          -0.766         0              270            0
  92  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  93  Fridge          -1.764         0.0            0.014          0              90             0
  94  SinkBasin       -0.014         0.736          -1.435         0              0              0
  95  Toaster         1.977          0.900          -0.336         0              270            0
  96  Faucet          -0.020         1.137          -1.605         0              270            0
  97  Chair           -9.354         0.000          1.242          0              180            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: move around to the table | STEP 2: pick up the knife from the table | STEP 3: turn left to the sink | STEP 4: rinse the knife with water and take it out | STEP 5: move left to the drawer under the oven | STEP 6: place the knife in the drawer | END