Task: put a washed knife into 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           0.0            0.869          -3.25          0              180            0
   1  Pan             -2.097         0.930          1.049          0              0              0              45
   2  DishSponge      -1.297         0.051          -3.574         0              270            0              53
   3  DishSponge      0.949          1.463          -0.269         0              0              0              49
   4  Spatula         0.757          0.787          -0.735         0              90             0              61
   5  Plate           -2.054         0.705          -0.983         0              0              0              74
   6  Bowl            -1.056         0.899          1.101          0              270            0              64
   7  Bowl            0.746          0.663          -1.958         0              270            0              58
   8  PepperShaker    0.721          0.660          0.630          0              0              0              43
   9  SaltShaker      -0.855         0.896          1.101          0              270            0              64
  10  SaltShaker      0.601          0.660          0.630          0              0              0              43
  11  Bread           0.149          0.944          1.101          0              270            0              64
  12  Lettuce         0.757          0.859          -0.790         0              270            0              61
  13  Lettuce         0.661          0.752          0.448          0              0              0              43
  14  Mug             0.698          0.941          -1.360         0              270            0              51
  15  Mug             0.803          0.878          -0.245         0              0              0              38
  16  Pot             -1.552         0.930          0.785          0              0              0              42
  17  Plate           -2.024         0.692          -1.447         0              0              0              74
  18  Fork            -1.599         0.700          -3.445         0              270            0              65
  19  SoapBottle      0.149          0.899          0.843          0              270            0              64
  20  Apple           0.841          0.826          -0.625         0              270            0              61
  21  Pan             0.746          0.464          -1.802         0              0              0              58
  22  Egg             -2.137         0.738          -1.199         0              0              0              74
  23  Spatula         0.769          0.775          -0.061         0              0              0              37
  24  Potato          -1.535         0.733          -3.445         0              0              0              65
  25  Cup             -1.578         0.695          -3.276         0              0              0              65
  26  SaltShaker      0.621          0.012          -0.250         0              0              0              48
  27  PepperShaker    0.961          0.660          0.630          0              0              0              43
  28  ButterKnife     0.877          0.883          0.029          0              0              0              38
  29  DishSponge      0.601          0.664          0.326          0              0              0              43
  30  Bread           -0.252         0.944          1.015          0              270            0              64
  31  Lettuce         -0.051         0.987          0.843          0              270            0              64
  32  Tomato          0.785          1.207          -1.802         0              270            0              58
  33  Spoon           0.950          0.884          -0.176         0              0              0              38
  34  Knife           -0.252         0.923          1.272          0              0              0              64
  35  Mug             -0.051         0.895          1.272          0              270            0              64
  36  Bowl            0.903          1.462          0.349          0              0              0              50
  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: walk through the kitchen to face the table with a toaster to the right of the stove  | STEP 2: pick up the sharp knife with a gold handle from the table | STEP 3: turn right, walk to face the sink | STEP 4: put the knife into the sink basin, wash knife, pick up the knife | STEP 5: step back to face the cabinets under the sink | STEP 6: open the top left drawer, put knife inside, close the drawer | END