Task: Clean the knife and put it in the cabinet drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.930          1.25           0              270            0
   1  Ladle           -0.868         0.363          -0.273         0              0              0              70
   2  Ladle           -0.991         0.363          0.576          0              90             0              66
   3  ButterKnife     1.229          0.911          0.747          0              0              0              96
   4  ButterKnife     -0.752         0.900          -0.776         0              45             0              65
   5  Kettle          -0.419         0.902          -1.269         0              315            0              67
   6  Spatula         0.836          0.923          0.410          0              126.810        0              96
   7  Spatula         -0.950         0.533          1.693          0              270            0              53
   8  Spoon           0.422          0.132          -1.515         0              90             0              55
   9  Spoon           3.373          0.901          0.232          0              90             0              64
  10  Fork            -0.991         0.131          0.576          0              90             0              95
  11  CellPhone       0.798          0.905          0.827          0              0              0              96
  12  CellPhone       -0.053         0.897          -1.682         0              45             0              86
  13  Bread           3.277          0.979          -0.599         0              0              0              64
  14  Lettuce         -0.935         0.965          -0.047         0              0              0              65
  15  SaltShaker      -0.991         0.514          0.926          0              0              0              62
  16  Bowl            0.105          0.897          -1.430         0              45             0              86
  17  Bowl            2.971          0.172          -0.828         0              0              0              77
  18  SoapBottle      -0.857         0.909          -0.773         0              45             0              65
  19  SoapBottle      0.356          0.920          0.527          0              0              0              96
  20  Tomato          1.086          0.750          -1.354         0              0              0              111
  21  Tomato          0.022          0.937          -1.588         0              0              0              86
  22  Egg             -1.085         1.050          1.205          0              90             0              113
  23  Egg             1.164          1.126          -1.531         0              0              0              111
  24  Cup             1.255          1.672          -1.689         0              0              0              56
  25  Knife           0.602          0.933          0.098          0              36.810         0              96
  26  Plate           3.141          0.188          -0.404         0              0              0              76
  27  Glassbottle     3.111          0.748          -0.100         0              90             0              110
  28  SoapBottle      3.141          0.184          -0.786         0              0              0              77
  29  Potato          3.101          0.139          1.626          0              225            0              106
  30  Fork            0.710          0.908          0.627          0              0              0              96
  31  Ladle           -0.987         0.937          -0.746         0              135            0              65
  32  Pot             -0.420         0.902          -0.920         0              135            0              60
  33  Kettle          3.181          1.465          -1.648         0              0              0              63
  34  Spatula         3.07           0.768          0.098          0              90             0              110
  35  Knife           -0.789         0.925          -0.270         0              90             0              65
  36  Lettuce         0.836          0.973          0.605          0              0              0              96
  37  Cup             -1.052         0.995          1.470          0              90             0              113
  38  SaltShaker      2.988          0.709          0.493          0              180            0              87
  39  Egg             -1.052         1.050          1.311          0              90             0              113
  40  PepperShaker    1.098          0.907          0.322          0              0              0              96
  41  ButterKnife     -0.868         0.706          0.664          0              0              0              69
  42  Apple           2.888          0.974          -0.599         0              0              0              64
  43  Pan             0.341          0.873          -1.649         0              167.065        0              86
  44  Bread           1.534          0.972          0.486          0              289.287        0              96
  45  CellPhone       -0.950         0.323          1.168          0              0              0              53
  46  DishSponge      -0.786         0.130          -0.361         0              0              0              85
  47  Tomato          1.242          0.750          -1.407         0              0              0              111
  48  Spoon           -0.589         0.135          -0.751         0              315            0              91
  49  Bowl            2.971          0.174          0.629          0              0              0              74
  50  Mug             0.773          1.242          -1.475         0              0              0              111
  51  Drawer          0.376          0.572          -1.509         0              0              0
  52  Drawer          3.020          0.769          -0.783         0              180            0
  53  Drawer          -0.860         0.577          1.429          0              0              0
  54  StoveBurner     -0.600         0.897          -1.090         0              135            0
  55  Drawer          0.376          0.191          -1.509         0              0              0
  56  Cabinet         1.402          1.874          -1.259         0              0              0
  57  Cabinet         -0.202         1.963          -1.328         0              0              0
  58  Drawer          -0.860         0.765          1.429          0              0              0
  59  Drawer          -0.677         0.765          -0.700         0              0              0
  60  StoveBurner     -0.420         0.897          -0.920         0              135            0
  61  Drawer          3.020          0.769          -0.407         0              180            0
  62  Drawer          -0.860         0.577          0.663          0              0              0
  63  Cabinet         2.819          1.768          -1.850         0              0              0
  64  CounterTop      3.111          0.936          0.019          0              0              0
  65  CounterTop      -1.007         0.935          -0.039         0              0              0
  66  Drawer          -0.860         0.385          0.663          0              0              0
  67  StoveBurner     -0.419         0.897          -1.269         0              315            0
  68  Drawer          -0.047         0.573          -1.324         0              0              0
  69  Drawer          -0.860         0.765          0.663          0              0              0
  70  Drawer          -0.860         0.385          -0.100         0              0              0
  71  Drawer          0.376          0.380          -1.509         0              0              0
  72  Drawer          -0.860         0.765          -0.100         0              0              0
  73  Drawer          0.376          0.765          -1.509         0              0              0
  74  Cabinet         2.849          0.419          0.409          0              0              0
  75  Drawer          -0.047         0.765          -1.324         0              0              0
  76  Cabinet         2.849          0.419          -0.610         0              0              0
  77  Cabinet         2.849          0.419          -0.959         0              0              0
  78  Cabinet         3.069          1.666          -0.709         0              0              0
  79  Cabinet         2.819          1.768          -1.047         0              0              0
  80  Cabinet         0.620          1.874          -1.259         0              0              0
  81  Cabinet         0.140          1.666          -1.559         0              0              0
  82  Cabinet         -0.189         1.666          -1.340         0              0              0
  83  Cabinet         -0.709         1.963          -0.819         0              0              0
  84  Cabinet         -0.920         1.665          -0.620         0              0              0
  85  Drawer          -0.860         0.190          -0.100         0              0              0
  86  CounterTop      0.133          0.935          -1.457         0              0              0
  87  Drawer          3.020          0.769          0.695          0              180            0
  88  Drawer          -0.677         0.577          -0.700         0              0              0
  89  Drawer          -0.860         0.190          1.429          0              0              0
  90  Drawer          -0.047         0.192          -1.324         0              0              0
  91  Drawer          -0.677         0.193          -0.700         0              0              0
  92  Drawer          -0.860         0.577          -0.100         0              0              0
  93  Sink            3.078          0.887          0.086          0              0              0
  94  StoveBurner     -0.239         0.897          -1.089         0              315            0
  95  Drawer          -0.860         0.190          0.663          0              0              0
  96  CounterTop      1.210          0.937          0.463          0              0              0
  97  Drawer          -0.047         0.381          -1.324         0              0              0
  98  Drawer          -0.677         0.387          -0.700         0              0              0
  99  Mirror          -1.295         1.630          0.045          0              0              0
 100  Drawer          -0.860         0.385          1.429          0              0              0
 101  HousePlant      3.196          0.891          -0.368         0              0              0
 102  StoveKnob       -0.090         0.790          -1.009         270            45             0
 103  StoveKnob       -0.280         0.790          -0.819         270            45             0
 104  StoveKnob       -0.180         0.790          -0.920         270            45             0
 105  StoveKnob       -0.370         0.790          -0.720         270            45             0
 106  GarbageCan      3.137          0.025          1.545          0              225            0
 107  Window          3.703          1.675          0.046          90             90             0
 108  CoffeeMachine   3.214          0.890          0.697          0              270            0
 109  LightSwitch     2.592          1.309          -1.880         0              0              0
 110  SinkBasin       3.069          0.736          0.108          0              90             0
 111  Fridge          1.008          0.029          -1.467         0              0              0
 112  Toaster         -1.035         0.873          -0.396         0              90             0
 113  Microwave       -1.034         0.874          1.428          0              90             0
 114  Faucet          3.305          0.886          0.094          270            180            0
 115  NorthWall
 116  EastWall
 117  SouthWall
 118  WestWall

Plan:
STEP 1: Walk over to the table. | STEP 2: Grab the knife. | STEP 3: Walk to the sink. | STEP 4: Wash the knife in the sink. | STEP 5: Do a 360 turn. | STEP 6: Place the knife in the cabinet drawer by the sink. | END