Task: Wash a knife then place in drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.930          -1.0           0              90             0
   1  Ladle           -0.991         0.554          -0.186         0              90             0              91
   2  Ladle           0.533          0.947          0.928          0              0              0              95
   3  DishSponge      -1.080         0.899          0.846          0              0              0              64
   4  DishSponge      0.354          1.259          -1.672         0              0              0              80
   5  ButterKnife     0.783          0.911          0.572          0              36.810         0              95
   6  ButterKnife     0.436          0.911          0.223          0              36.810         0              95
   7  Glassbottle     -0.182         0.901          -1.347         0              45             0              85
   8  Kettle          2.971          0.176          -0.828         0              0              0              76
   9  Pot             -0.862         0.900          0.176          0              0              0              64
  10  Pot             -0.420         0.902          -0.920         0              135            0              59
  11  Spoon           3.111          0.748          0.032          0              0              0              109
  12  Fork            3.122          0.901          -0.499         0              180            0              63
  13  CellPhone       -0.683         0.131          -0.706         0              45             0              90
  14  CellPhone       0.967          0.905          0.322          0              0              0              95
  15  Bread           -0.862         0.979          0.846          0              0              0              64
  16  Lettuce         0.851          1.313          -1.503         0              0              0              110
  17  Lettuce         -0.826         0.965          -0.904         0              45             0              64
  18  SaltShaker      0.904          1.671          -1.689         0              0              0              79
  19  PepperShaker    0.454          1.256          -1.741         0              0              0              80
  20  PepperShaker    -0.909         0.322          -0.361         0              0              0              69
  21  Tomato          1.242          1.110          -1.448         0              0              0              110
  22  Cup             0.622          0.905          0.527          0              0              0              95
  23  Plate           3.122          0.913          -0.798         0              0              0              63
  24  Knife           3.412          0.926          0.360          0              90             0              63
  25  Plate           0.808          1.687          -1.480         0              0              0              79
  26  Glassbottle     0.808          1.675          -1.689         0              0              0              79
  27  SoapBottle      -0.789         0.909          0.623          0              0              0              64
  28  Potato          3.128          0.139          1.653          0              225            0              105
  29  Fork            -0.048         0.900          -1.584         0              225            0              85
  30  Ladle           3.028          0.212          -0.404         0              0              0              75
  31  Pot             3.084          0.177          0.629          0              180            0              73
  32  Kettle          -0.419         0.902          -1.269         0              315            0              66
  33  Spatula         3.152          0.762          0.098          0              0              0              109
  34  Knife           -0.991         0.156          0.489          0              90             0              94
  35  Lettuce         1.098          0.973          0.464          0              0              0              95
  36  Cup             -0.985         0.995          1.417          0              90             0              112
  37  SaltShaker      -0.868         0.127          0.163          0              0              0              84
  38  Egg             -0.192         0.952          -1.542         0              45             0              85
  39  PepperShaker    0.713          1.671          -1.759         0              0              0              79
  40  ButterKnife     -0.038         0.900          -1.388         0              45             0              85
  41  Apple           0.967          0.981          0.747          0              0              0              95
  42  Pan             0.341          0.873          -1.649         0              167.065        0              85
  43  Bread           0.716          0.986          0.135          0              36.810         0              95
  44  CellPhone       -0.862         0.897          0.399          0              0              0              64
  45  DishSponge      -0.786         0.130          1.518          0              0              0              88
  46  Tomato          3.355          0.937          -0.599         0              0              0              63
  47  Spoon           3.028          0.748          0.231          0              180            0              109
  48  Bowl            1.255          1.671          -1.619         0              0              0              55
  49  Mug             1.164          0.881          -1.475         0              0              0              110
  50  Drawer          0.376          0.572          -1.509         0              0              0
  51  Drawer          3.020          0.769          -0.783         0              180            0
  52  Drawer          -0.860         0.577          1.429          0              0              0
  53  StoveBurner     -0.600         0.897          -1.090         0              135            0
  54  Drawer          0.376          0.191          -1.509         0              0              0
  55  Cabinet         1.402          1.874          -1.259         0              0              0
  56  Cabinet         -0.202         1.963          -1.328         0              0              0
  57  Drawer          -0.860         0.765          1.429          0              0              0
  58  Drawer          -0.677         0.765          -0.700         0              0              0
  59  StoveBurner     -0.420         0.897          -0.920         0              135            0
  60  Drawer          3.020          0.769          -0.407         0              180            0
  61  Drawer          -0.860         0.577          0.663          0              0              0
  62  Cabinet         2.819          1.768          -1.850         0              0              0
  63  CounterTop      3.111          0.936          0.019          0              0              0
  64  CounterTop      -1.007         0.935          -0.039         0              0              0
  65  Drawer          -0.860         0.385          0.663          0              0              0
  66  StoveBurner     -0.419         0.897          -1.269         0              315            0
  67  Drawer          -0.047         0.573          -1.324         0              0              0
  68  Drawer          -0.860         0.765          0.663          0              0              0
  69  Drawer          -0.860         0.385          -0.100         0              0              0
  70  Drawer          0.376          0.380          -1.509         0              0              0
  71  Drawer          -0.860         0.765          -0.100         0              0              0
  72  Drawer          0.376          0.765          -1.509         0              0              0
  73  Cabinet         2.849          0.419          0.409          0              0              0
  74  Drawer          -0.047         0.765          -1.324         0              0              0
  75  Cabinet         2.849          0.419          -0.610         0              0              0
  76  Cabinet         2.849          0.419          -0.959         0              0              0
  77  Cabinet         3.069          1.666          -0.709         0              0              0
  78  Cabinet         2.819          1.768          -1.047         0              0              0
  79  Cabinet         0.620          1.874          -1.259         0              0              0
  80  Cabinet         0.140          1.666          -1.559         0              0              0
  81  Cabinet         -0.189         1.666          -1.340         0              0              0
  82  Cabinet         -0.709         1.963          -0.819         0              0              0
  83  Cabinet         -0.920         1.665          -0.620         0              0              0
  84  Drawer          -0.860         0.190          -0.100         0              0              0
  85  CounterTop      0.133          0.935          -1.457         0              0              0
  86  Drawer          3.020          0.769          0.695          0              180            0
  87  Drawer          -0.677         0.577          -0.700         0              0              0
  88  Drawer          -0.860         0.190          1.429          0              0              0
  89  Drawer          -0.047         0.192          -1.324         0              0              0
  90  Drawer          -0.677         0.193          -0.700         0              0              0
  91  Drawer          -0.860         0.577          -0.100         0              0              0
  92  Sink            3.078          0.887          0.086          0              0              0
  93  StoveBurner     -0.239         0.897          -1.089         0              315            0
  94  Drawer          -0.860         0.190          0.663          0              0              0
  95  CounterTop      1.210          0.937          0.463          0              0              0
  96  Drawer          -0.047         0.381          -1.324         0              0              0
  97  Drawer          -0.677         0.387          -0.700         0              0              0
  98  Mirror          -1.295         1.630          0.045          0              0              0
  99  Drawer          -0.860         0.385          1.429          0              0              0
 100  HousePlant      3.196          0.891          -0.368         0              0              0
 101  StoveKnob       -0.090         0.790          -1.009         270            45             0
 102  StoveKnob       -0.280         0.790          -0.819         270            45             0
 103  StoveKnob       -0.180         0.790          -0.920         270            45             0
 104  StoveKnob       -0.370         0.790          -0.720         270            45             0
 105  GarbageCan      3.137          0.025          1.545          0              225            0
 106  Window          3.703          1.675          0.046          90             90             0
 107  CoffeeMachine   3.214          0.890          0.697          0              270            0
 108  LightSwitch     2.592          1.309          -1.880         0              0              0
 109  SinkBasin       3.069          0.736          0.108          0              90             0
 110  Fridge          1.008          0.029          -1.467         0              0              0
 111  Toaster         -1.035         0.873          -0.396         0              90             0
 112  Microwave       -1.034         0.874          1.428          0              90             0
 113  Faucet          3.305          0.886          0.094          270            180            0
 114  NorthWall
 115  EastWall
 116  SouthWall
 117  WestWall

Plan:
STEP 1: Turn around and walk forward. Turn to the left and walk to the island. Turn right to face it. | STEP 2: Pick up the knife off of the island.  | STEP 3: Turn right and go forward. Step to the left and then go forward to the sink. | STEP 4: Place the knife inside the sink. Turn on the water and then take the knife out.  | STEP 5: Turn around then open the drawer that is to the right of the sink. | STEP 6: Place the knife inside the drawer and shut it.  | END