Task: Wash a knife and put it 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           -2.0           0.900          3.0            0              90             0
   1  Potato          -1.874         0.935          -1.610         0              0              0              71
   2  Potato          -1.796         0.065          1.288          0              270            0              85
   3  CellPhone       1.839          0.909          -0.053         0              0              0              71
   4  Ladle           1.713          0.393          0.047          0              0              0              67
   5  Ladle           1.714          0.807          1.147          0              270            0              77
   6  DishSponge      -0.002         0.760          -1.324         0              0              0              95
   7  DishSponge      -0.213         0.925          0.041          0              0              0              79
   8  ButterKnife     1.726          0.911          1.408          0              0              0              71
   9  Fork            -0.088         0.760          -1.490         0              90             0              95
  10  Fork            2.119          0.912          -0.131         0              90             0              71
  11  Spoon           1.117          0.912          -1.610         0              0              0              71
  12  Spoon           1.810          0.696          0.672          0              0              0              72
  13  Spatula         0.107          0.940          -0.190         0              270            0              79
  14  Spatula         0.321          0.940          0.506          0              0              0              79
  15  Egg             -0.844         0.968          -1.318         0              0              0              71
  16  Egg             -0.106         0.982          -0.190         0              0              0              79
  17  Plate           -0.213         0.924          0.506          0              0              0              79
  18  Plate           0.000          0.924          0.041          0              0              0              79
  19  Knife           1.117          0.933          -1.415         0              0              0              71
  20  SoapBottle      -1.050         0.915          -1.415         0              0              0              71
  21  Tomato          -1.803         1.524          -0.081         0              90             0              94
  22  SaltShaker      1.612          0.221          1.219          0              0              0              80
  23  SaltShaker      1.710          0.691          0.737          0              0              0              72
  24  Mug             0.170          0.755          -1.435         0              0              0              95
  25  Apple           -1.648         0.892          0.295          0              90             0              94
  26  SoapBottle      0.214          0.929          -0.190         0              0              0              79
  27  Cup             0.214          0.923          0.738          0              0              0              79
  28  Pot             0.889          0.9            -1.412         0              0              0              71
  29  Fork            0.083          0.760          -1.490         0              90             0              95
  30  Ladle           1.962          1.703          -0.977         0              270            0              59
  31  Kettle          -0.361         0.115          -1.284         0              0              0              50
  32  Egg             -0.213         0.982          1.202          0              0              0              79
  33  Plate           -1.841         1.660          -1.131         0              90             0              58
  34  Pan             1.975          0.938          0.601          0              180            0              66
  35  Lettuce         -1.710         0.883          -0.137         0              304.909        0              94
  36  Spatula         1.860          0.704          0.113          0              270            0              55
  37  Apple           -0.175         0.813          -1.380         0              0              0              95
  38  Knife           0.000          0.947          0.738          0              90             0              79
  39  SaltShaker      -0.213         0.921          0.738          0              0              0              79
  40  PepperShaker    -0.213         0.921          0.970          0              0              0              79
  41  CellPhone       1.610          0.457          0.667          0              0              0              75
  42  ButterKnife     1.658          0.763          1.365          0              270            0              77
  43  Bread           -0.106         1.006          0.970          0              0              0              79
  44  Tomato          0.214          0.980          0.273          0              0              0              79
  45  Potato          -1.773         0.066          1.412          0              270            0              85
  46  DishSponge      1.612          0.460          1.088          0              0              0              69
  47  Spoon           1.900          0.912          1.258          0              0              0              71
  48  Mug             -0.213         0.920          0.273          0              0              0              79
  49  Bowl            1.813          0.909          1.107          0              0              0              71
  50  Cabinet         -0.495         0.474          -1.149         0              0              0
  51  Window          -0.010         1.582          -1.821         0              0              0
  52  Drawer          0.805          0.475          -1.159         0              0              0
  53  StoveBurner     1.764          0.902          0.601          0              270            0
  54  Drawer          1.5            0.196          -0.019         0              0              0
  55  Drawer          1.5            0.629          -0.018         0              0              0
  56  Drawer          1.5            0.602          -0.019         0              270            0
  57  StoveBurner     1.975          0.902          0.384          0              270            0
  58  Cabinet         -1.703         2.022          -1.453         0              90             0
  59  Cabinet         1.789          2.019          -0.819         0              270            0
  60  Cabinet         0.494          0.474          -1.149         0              0              0
  61  Cabinet         0.409          0.475          0.444          0              0              0
  62  Drawer          -0.696         0.475          -1.159         0              0              0
  63  Drawer          1.5            0.140          0.599          0              270            0
  64  Cabinet         1.389          0.474          -1.149         0              0              0
  65  Drawer          1.5            0.305          0.600          0              0              0
  66  StoveBurner     1.975          0.902          0.601          0              270            0
  67  Drawer          1.5            0.429          -0.019         0              0              0
  68  StoveBurner     1.764          0.902          0.819          0              270            0
  69  Drawer          1.5            0.519          1.220          0              0              0
  70  Cabinet         1.705          2.019          -1.449         0              0              0
  71  CounterTop      0.002          0.947          -1.513         0              0              0
  72  Drawer          1.5            0.629          0.605          0              0              0
  73  Cabinet         -0.627         2.019          -1.449         0              0              0
  74  StoveBurner     1.764          0.902          0.384          0              270            0
  75  Drawer          1.5            0.538          0.600          0              0              0
  76  Sink            0.0            0.893          -1.434         0              0              0
  77  Drawer          1.5            0.782          1.220          0              270            0
  78  Window          2.217          1.565          -0.384         0              0              0
  79  CounterTop      -0.014         0.961          0.505          0              0              0
  80  Drawer          1.5            0.200          1.220          0              0              0
  81  StoveBurner     1.975          0.902          0.819          0              270            0
  82  Window          -3.240         1.616          2.693          0              270            0
  83  Cabinet         -1.389         0.474          -1.149         0              0              0
  84  LightSwitch     -0.153         1.291          3.700          0              180            0
  85  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  86  StoveKnob       1.602          0.917          0.570          0              270            180
  87  StoveKnob       1.602          0.917          0.625          0              270            180
  88  StoveKnob       1.602          0.917          0.739          0              270            180
  89  StoveKnob       1.602          0.917          0.680          0              270            180
  90  StoveKnob       1.602          0.917          0.462          0              270            180
  91  StoveKnob       1.602          0.917          0.517          0              270            180
  92  Microwave       1.932          0.899          -0.766         0              270            0
  93  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  94  Fridge          -1.764         0.0            0.014          0              90             0
  95  SinkBasin       -0.014         0.736          -1.435         0              0              0
  96  Toaster         1.977          0.900          -0.336         0              270            0
  97  Faucet          -0.020         1.137          -1.605         0              270            0
  98  Chair           -9.354         0.000          1.242          0              180            0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Go forward, turn right at the wall, go forward, turn left at the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn around, go to the table, turn left, go to the counter, turn right, go forward, turn left at the sink | STEP 4: Put the knife into the sink, open the water, wait, pick up the knife | STEP 5: Turn right, go forward to the microwave | STEP 6: Open the second drawer from the bottom, put the knife in the drawer, close the drawer | END