Task: Put a clean knife in the drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          -0.5           0              90             0
   1  Kettle          1.007          0.962          0.561          0              270            0              55
   2  Kettle          1.781          0.913          -1.489         0              0              0              53
   3  Potato          0.753          0.949          -1.449         0              270            0              51
   4  DishSponge      -0.058         0.773          -1.538         0              0              0              56
   5  ButterKnife     -2.065         0.952          0.345          0              90             0              86
   6  ButterKnife     1.724          0.912          0.375          0              0              0              68
   7  Spoon           -2.065         0.953          0.524          0              90             0              86
   8  Spoon           0.117          0.774          0.273          0              90             0              59
   9  Spatula         -2.065         0.967          0.165          0              90             0              86
  10  Spatula         0.035          0.927          0.292          0              0              0              52
  11  Egg             0.701          0.954          -1.582         0              270            0              51
  12  Egg             -2.340         0.987          0.345          0              90             0              86
  13  Cup             -2.065         0.950          0.435          0              90             0              86
  14  Plate           -1.791         0.953          0.345          0              90             0              86
  15  Knife           0.856          0.944          -1.582         0              270            0              51
  16  Tomato          -2.047         1.100          -1.849         0              0              0              83
  17  Tomato          -2.477         1.001          0.255          0              90             0              86
  18  Bowl            -1.791         0.951          0.614          0              90             0              86
  19  PepperShaker    0.035          0.908          0.292          0              0              0              52
  20  PepperShaker    -2.614         0.948          0.435          0              90             0              86
  21  Lettuce         -2.135         1.582          -1.763         0              0              0              83
  22  Mug             1.846          0.907          0.375          0              0              0              68
  23  Apple           -2.065         1.019          0.614          0              90             0              86
  24  Bread           1.299          0.978          -1.532         0              0              0              53
  25  Knife           0.035          0.937          0.623          0              180            0              52
  26  Fork            0.035          0.912          0.458          0              0              0              52
  27  Bowl            -0.359         0.911          -1.820         0              0              0              53
  28  Kettle          1.361          0.962          0.294          0              180            0              48
  29  Cup             -0.175         0.910          -1.654         0              0              0              53
  30  Tomato          1.535          0.961          -1.489         0              0              0              53
  31  SoapBottle      0.035          0.910          0.540          0              0              0              52
  32  Plate           -0.538         0.111          -1.508         0              0              0              67
  33  Pot             -2.383         0.94           0.583          0              0              0              86
  34  Spatula         -2.340         0.967          0.165          0              180            0              86
  35  PaperTowelRoll  -2.614         1.056          0.704          0              90             0              86
  36  Egg             -1.872         0.297          -1.886         0              0              0              83
  37  Lettuce         1.846          1.002          0.540          0              0              0              68
  38  SaltShaker      1.785          0.908          0.292          0              0              0              68
  39  PepperShaker    -1.791         0.948          0.165          0              90             0              86
  40  Apple           -1.027         1.082          -1.704         0              0              0              75
  41  ButterKnife     0.432          0.912          0.209          0              0              0              52
  42  Potato          -0.427         0.100          0.439          0              90             0              82
  43  Pan             1.022          0.959          0.288          0              219.190        0              65
  44  DishSponge      0.908          0.919          -1.449         0              270            0              51
  45  Spoon           -0.196         0.775          -1.473         0              270            0              56
  46  Mug             -2.203         0.947          0.704          0              90             0              86
  47  Cabinet         -0.193         1.688          -1.648         0              180            0
  48  StoveBurner     1.360          0.957          0.293          0              180            0
  49  Drawer          0.499          0.792          0.296          0              0              0
  50  Cabinet         0.095          0.400          -1.352         0              180            0
  51  Sink            0.711          0.817          -1.772         0              270            0
  52  CounterTop      0.280          0.947          0.458          0              0              0
  53  CounterTop      -0.680         0.947          -1.654         0              0              0
  54  Drawer          1.825          0.792          0.296          0              0              0
  55  StoveBurner     1.007          0.957          0.561          0              270            0
  56  Drawer          -0.150         0.792          -1.496         0              0              0
  57  Drawer          -0.586         0.792          -1.496         0              0              0
  58  StoveBurner     1.360          0.957          0.561          0              270            0
  59  Drawer          0.024          0.792          0.296          0              0              0
  60  Cabinet         1.079          0.400          -1.349         0              180            0
  61  Cabinet         1.669          0.402          0.151          0              0              0
  62  Cabinet         0.055          0.402          -1.351         0              0              0
  63  Cabinet         -0.180         0.402          0.151          0              0              0
  64  Cabinet         0.729          0.402          0.151          0              0              0
  65  StoveBurner     1.007          0.957          0.293          0              180            0
  66  Drawer          -1.100         0.792          -1.496         0              0              0
  67  Cabinet         -0.396         0.402          -1.351         0              0              0
  68  CounterTop      1.776          0.947          0.458          0              0              0
  69  Cabinet         1.974          1.688          -1.648         0              180            0
  70  Cabinet         -0.820         0.400          -1.349         0              180            0
  71  Toaster         0.305          0.900          0.552          0              180            0
  72  LightSwitch     -2.756         1.307          -0.987         0              90             0
  73  Window          0.582          1.613          -1.967         90             0              0
  74  Window          1.969          1.5            -0.615         90             270            0
  75  Microwave       -1.037         0.900          -1.723         0              0              0
  76  SinkBasin       0.377          0.765          -1.655         0              270            0
  77  CoffeeMachine   0.618          0.900          0.600          0              180            0
  78  StoveKnob       1.246          0.913          0.118          45             180            0
  79  StoveKnob       1.373          0.913          0.118          45             180            0
  80  StoveKnob       0.995          0.913          0.118          45             180            0
  81  StoveKnob       1.126          0.913          0.118          45             180            0
  82  GarbageCan      -0.368         -0.029         0.539          0              90             0
  83  Fridge          -2.134         0.0            -1.690         0              0              0
  84  Faucet          0.549          1.046          -1.833         0              232.527        0
  85  Stool           -1.475         0.000          0.414          1.233          280.375        0
  86  DiningTable     -2.255         -0.004         0.432          0              0              0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Go forward and then turn right to face the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Move to the right to face the sink basin. | STEP 4: Wash the knife in the sink basin. | STEP 5: Turn around and go to the counter in front of you, then turn left to face the drawer at the end of the counter. | STEP 6: Put the knife in the drawer at the end of the counter. | END