Task: Get knife, clean knife, put in apple on table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.901          1.5            0              180            0
   1  Pan             -0.254         0.928          4.672          0              0              0              61
   2  Potato          -2.831         0.325          4.427          0              90             0              76
   3  Potato          -2.799         0.080          0.403          0              26.101         0              73
   4  DishSponge      -0.400         0.900          3.334          0              0              0              82
   5  DishSponge      -1.770         0.661          0.519          0              0              0              62
   6  ButterKnife     -0.314         0.900          3.133          0              0              0              82
   7  ButterKnife     -2.686         0.900          2.177          0              0              0              80
   8  Spoon           -0.400         0.901          2.329          0              0              0              82
   9  Fork            -1.353         0.798          0.337          0              90             0              77
  10  Egg             -2.765         0.087          0.471          0              26.101         0              73
  11  Egg             -2.730         0.087          0.284          0              26.101         0              73
  12  Cup             -3.022         0.935          3.209          0              0              0              66
  13  Cup             -2.847         1.186          4.501          0              90             0              76
  14  Plate           -2.480         0.904          2.573          0              0              0              80
  15  Knife           -0.143         0.926          2.329          0              90             0              82
  16  Knife           -1.662         0.688          0.409          0              90             0              62
  17  SoapBottle      -1.904         0.927          0.602          0              0              0              59
  18  SoapBottle      -2.785         0.935          3.302          0              180            0              66
  19  Tomato          -2.888         0.696          4.427          0              90             0              76
  20  Tomato          -2.722         0.696          4.575          0              90             0              76
  21  Bowl            -2.246         1.770          0.160          0              0              0              55
  22  PepperShaker    -1.083         1.769          0.068          0              0              0              56
  23  PepperShaker    -0.433         0.658          0.355          0              0              0              48
  24  Lettuce         -2.892         0.980          2.309          0              0              0              80
  25  Apple           -2.738         0.355          4.575          0              90             0              76
  26  Apple           -2.764         1.242          4.649          0              90             0              76
  27  Egg             -1.485         0.961          0.641          0              0              0              59
  28  Plate           -0.747         1.777          0.205          0              0              0              57
  29  Fork            -0.228         0.901          2.731          0              90             0              82
  30  Bread           -2.864         0.940          1.983          0              0              0              80
  31  Apple           -0.350         1.074          0.203          0              0              0              78
  32  Lettuce         -0.657         0.980          3.334          0              0              0              82
  33  Spatula         -1.085         0.943          0.650          0              0              0              59
  34  Knife           -1.904         0.953          0.264          0              90             0              59
  35  Potato          -0.400         0.926          2.530          0              0              0              82
  36  Tomato          -0.314         0.964          2.731          0              0              0              82
  37  Cup             -1.094         0.795          0.447          0              0              0              77
  38  SaltShaker      -0.657         0.896          3.535          0              0              0              82
  39  PepperShaker    -0.194         1.769          0.160          0              0              0              57
  40  ButterKnife     -0.572         0.900          3.133          0              0              0              82
  41  SoapBottle      -2.892         0.900          2.573          0              0              0              80
  42  Pan             -0.535         0.928          4.274          0              0              0              63
  43  DishSponge      -0.272         0.661          0.464          0              0              0              48
  44  Pot             -2.476         0.889          2.050          0              0              0              80
  45  Spoon           -0.686         0.929          0.650          0              0              0              59
  46  Mug             -2.778         1.001          3.714          0              90             0              79
  47  Bowl            -1.856         1.770          0.160          0              0              0              54
  48  Drawer          -0.325         0.696          0.413          0              0              0
  49  Cabinet         -0.595         0.490          0.648          0              0              0
  50  Cabinet         -0.555         0.490          0.646          0              0              0
  51  Cabinet         -1.591         0.490          0.646          0              0              0
  52  Cabinet         -1.554         0.490          0.646          0              0              0
  53  Cabinet         -2.550         0.490          0.646          0              0              0
  54  Cabinet         -1.514         2.046          0.392          0              0              0
  55  Cabinet         -2.474         2.046          0.392          0              0              0
  56  Cabinet         -1.478         2.046          0.392          0              0              0
  57  Cabinet         -0.518         2.046          0.392          0              0              0
  58  Cabinet         -0.479         2.046          0.392          0              0              0
  59  CounterTop      -1.366         0.952          0.349          0              0              0
  60  Sink            -1.108         0.926          0.340          0              0              0
  61  StoveBurner     -0.254         0.922          4.672          0              0              0
  62  Drawer          -1.824         0.696          0.413          0              0              0
  63  StoveBurner     -0.535         0.922          4.274          0              0              0
  64  StoveBurner     -0.254         0.922          4.274          0              0              0
  65  StoveBurner     -0.536         0.922          4.672          0              0              0
  66  CounterTop      -2.780         0.971          3.487          0              0              0
  67  Drawer          -2.323         0.696          0.413          0              0              0
  68  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  69  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  70  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  71  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  72  Toaster         -0.286         0.861          3.520          0              270            0
  73  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  74  LightSwitch     -0.064         1.447          1.996          0              270            0
  75  Window          -3.075         1.593          1.361          90             90             0
  76  Fridge          -2.802         0.0            4.427          0              0              0
  77  SinkBasin       -1.106         0.785          0.337          0              0              0
  78  Microwave       -0.358         0.917          0.224          0              0              0
  79  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  80  DiningTable     -2.733         -0.003         2.607          0              270            0
  81  Faucet          -1.077         0.920          0.028          270            270            0
  82  DiningTable     -0.488         -0.003         3.182          0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn left, go to wall.  Turn left to face table. | STEP 2: Pick up knife from right side of table. | STEP 3: Turn around to face counter between sink and microwave. | STEP 4: Place knife in left side of sink, left of the mug.  Turn water on, fill sink, empty sink, turn water off.  Remove knife from sink. | STEP 5: Turn around, go half way down table on right.  Turn right to face table. | STEP 6: Put knife on table, sticking into tomato in middle of table. | END