Task: Rinse a knife and put it away 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           0.0            0.900          -1.0           0              180            0
   1  SprayBottle     -0.386         1.654          -1.801         0              0              0              54
   2  SprayBottle     1.459          0.213          1.137          0              0              0              89
   3  DishSponge      0.889          1.655          -1.764         0              0              0              61
   4  DishSponge      1.533          1.161          -1.002         0              0              0              78
   5  Glassbottle     1.342          1.656          -1.500         0              0              0              64
   6  Spoon           -1.809         0.911          -1.793         0              0              0              70
   7  Spoon           0.217          0.920          -1.758         0              90             0              51
   8  Spatula         0.946          0.926          -1.534         0              0              0              72
   9  Pot             -1.431         0.949          -1.525         0              0              0              80
  10  Egg             -2.201         0.939          0.291          0              0              0              74
  11  Egg             1.325          1.396          1.976          0              270            0              91
  12  Cup             0.149          0.920          -1.808         0              270            0              51
  13  Cup             1.505          1.265          0.188          0              270            0              94
  14  Knife           0.664          0.941          -1.619         0              0              0              72
  15  SoapBottle      1.520          1.655          -0.736         0              0              0              60
  16  SoapBottle      -1.712         0.910          0.032          0              0              0              74
  17  Tomato          1.381          0.254          1.051          0              0              0              89
  18  Bowl            1.454          1.162          -1.345         0              0              0              78
  19  Bowl            1.150          0.118          0.313          0              0              0              55
  20  PepperShaker    1.092          0.112          0.489          0              0              0              55
  21  SaltShaker      -1.860         0.111          -1.732         0              0              0              79
  22  Mug             0.183          0.914          -1.657         0              0              0              51
  23  Tomato          1.332          1.857          2.557          0              270            0              91
  24  Glassbottle     1.375          1.162          -1.002         0              0              0              78
  25  Knife           -1.886         0.940          -1.879         0              90             0              70
  26  Plate           0.649          0.117          -1.537         0              90             0              66
  27  Fork            -0.477         0.911          -1.619         0              0              0              72
  28  Ladle           -1.809         0.954          -1.620         0              0              0              70
  29  Potato          -2.445         0.952          0.118          0              0              0              74
  30  Lettuce         -1.957         0.979          0.204          0              0              0              74
  31  Kettle          1.342          1.657          -0.815         0              0              0              60
  32  Pen             -0.400         0.775          -1.500         0              90             0              81
  33  SaltShaker      1.414          1.157          0.370          0              180            0              78
  34  Cup             0.927          0.911          0.031          0              0              0              72
  35  Egg             1.420          1.749          1.963          0              270            0              91
  36  Spatula         -2.079         0.925          0.549          0              0              0              74
  37  Bowl            1.414          1.162          -1.688         0              0              0              78
  38  SprayBottle     1.454          1.161          -1.002         0              0              0              78
  39  Pan             -1.431         0.949          -1.81          0              0              0              82
  40  SoapBottle      -1.524         1.858          -1.838         0              0              0              65
  41  Pot             -1.081         0.949          -1.81          0              0              0              68
  42  ButterKnife     -0.627         0.911          -1.448         0              0              0              72
  43  PepperShaker    -0.685         0.106          -1.584         0              0              0              59
  44  DishSponge      -0.685         0.111          -1.487         0              0              0              59
  45  Bread           -1.712         0.988          0.463          0              0              0              74
  46  Apple           1.505          1.300          -0.021         0              270            0              94
  47  Spoon           0.916          0.776          -1.068         0              90             0              50
  48  Mug             1.275          1.362          2.476          0              270            0              91
  49  Drawer          0.860          0.75           0.430          0              0              0
  50  Drawer          0.871          0.75           -1.134         0              0              0
  51  Sink            0.156          0.817          -1.801         0              270            0
  52  Cabinet         -0.868         2.005          -1.690         0              0              0
  53  Cabinet         -1.661         2.059          -1.684         0              90             0
  54  Cabinet         -0.817         2.059          -1.689         0              0              0
  55  Cabinet         0.860          0.402          0.665          0              0              0
  56  Cabinet         0.860          0.402          -0.552         0              0              0
  57  Cabinet         0.860          0.402          -1.365         0              0              0
  58  Cabinet         -0.244         0.402          -1.389         0              0              0
  59  Cabinet         -0.815         0.402          -1.389         0              0              0
  60  Cabinet         1.159          2.059          -0.334         0              0              0
  61  Cabinet         0.488          2.059          -1.689         0              0              0
  62  Cabinet         -0.193         2.059          -1.689         0              0              0
  63  Drawer          0.860          0.75           -0.699         0              0              0
  64  Cabinet         1.159          2.059          -1.019         0              0              0
  65  Cabinet         -1.611         2.005          -1.690         0              0              0
  66  Cabinet         0.832          0.401          -1.393         0              90             0
  67  Drawer          -2.105         0.75           -1.389         0              0              0
  68  StoveBurner     -1.081         0.941          -1.809         0              0              0
  69  Cabinet         -0.202         0.401          -1.391         0              90             0
  70  CounterTop      -1.973         0.945          -1.707         0              0              0
  71  Drawer          -0.375         0.75           -1.389         0              0              0
  72  CounterTop      1.164          0.946          -0.649         0              0              0
  73  StoveBurner     -1.081         0.941          -1.527         0              0              0
  74  CounterTop      -2.096         0.945          0.291          0              0              0
  75  Cabinet         -2.237         0.402          -1.389         0              0              0
  76  Drawer          0.584          0.75           -1.389         0              0              0
  77  Drawer          -1.795         0.75           -1.389         0              0              0
  78  CounterTop      1.5            1.197          -0.654         0              0              0
  79  Cabinet         -1.667         0.402          -1.389         0              0              0
  80  StoveBurner     -1.430         0.941          -1.525         0              0              0
  81  Drawer          -0.685         0.75           -1.389         0              0              0
  82  StoveBurner     -1.430         0.941          -1.809         0              0              0
  83  LightSwitch     -2.539         1.289          2.568          0              90             0
  84  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  85  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  86  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  87  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  88  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  89  GarbageCan      1.343          0.015          1.041          0              0              0
  90  HousePlant      1.440          1.153          0.593          0              0              0
  91  Fridge          1.417          0.0            2.101          0              0              0
  92  Window          -0.486         1.452          3.302          90             0              0
  93  SinkBasin       -0.063         0.765          -1.713         0              270            0
  94  Microwave       1.422          1.150          0.022          0              270            0
  95  Toaster         -2.066         0.900          -1.848         0              0              0
  96  Stool           -1.994         0.010          0.882          0              0              0
  97  Faucet          -0.096         1.041          -1.867         0              270            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn to face the countertop to the right of the sink. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn to face the sink. | STEP 4: Rinse the knife in the sink, removing it afterwards. | STEP 5: Face the drawer directly below the spatula on the counter. | STEP 6: Put the knife in the drawer. | END