Task: Rinse a knife and place it on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.914          3.0            0              180            0
   1  Pan             -3.143         0.966          1.971          0              0              0              66
   2  DishSponge      -2.460         0.080          3.586          0              0              0              57
   3  DishSponge      -1.439         0.915          4.106          0              0              0              46
   4  ButterKnife     -1.787         0.891          0.049          0              90             0              82
   5  ButterKnife     -1.857         0.789          3.7            0              0              0              76
   6  Spatula         -3.272         0.930          3.827          0              0              0              46
   7  Spoon           -1.523         0.892          0.049          0              90             0              82
   8  Spoon           -3.463         0.916          1.524          0              0              0              55
   9  Fork            -3.654         0.916          3.663          0              90             0              46
  10  Fork            -3.215         0.747          3.027          0              270            0              48
  11  Egg             -3.473         1.581          2.016          0              90             0              77
  12  Knife           -1.259         0.915          0.358          0              90             0              82
  13  Knife           -3.097         0.768          1.510          0              270            0              47
  14  Tomato          -0.089         0.791          3.817          0              180            0              72
  15  Tomato          -1.523         0.960          -0.053         0              90             0              82
  16  SoapBottle      -3.654         0.915          1.607          0              0              0              55
  17  SoapBottle      -1.523         0.891          0.564          0              90             0              82
  18  PepperShaker    -1.754         0.077          3.586          0              0              0              51
  19  PepperShaker    -1.523         0.887          0.152          0              90             0              82
  20  Lettuce         -3.463         1.001          1.357          0              0              0              55
  21  Bread           -1.259         0.972          0.152          0              90             0              82
  22  Mug             -1.919         0.910          4.104          0              0              0              46
  23  Egg             -1.729         0.824          3.625          0              0              0              76
  24  Knife           -1.787         0.915          0.358          0              90             0              82
  25  Fork            -3.654         0.916          1.440          0              270            0              55
  26  Bread           -0.790         1.067          3.863          0              180            0              72
  27  Potato          -0.440         1.574          4.136          0              90             0              72
  28  Plate           -3.005         0.904          3.677          0              0              0              46
  29  Pot             -3.144         0.963          2.374          0              0              0              49
  30  Kettle          -3.145         0.069          2.920          0              270            0              59
  31  WineBottle      -3.176         0.916          3.172          0              0              0              46
  32  Bowl            -2.302         0.914          3.675          0              0              0              46
  33  Tomato          -1.523         0.960          0.255          0              90             0              82
  34  Cup             -0.790         0.722          3.869          0              180            0              72
  35  Spatula         -3.081         0.930          1.357          0              90             0              55
  36  SoapBottle      -1.224         0.087          3.756          0              270            0              78
  37  Lettuce         -0.994         0.977          0.152          0              90             0              82
  38  Pan             -3.424         0.966          1.971          0              0              0              54
  39  Apple           -0.994         0.956          -0.053         0              90             0              82
  40  SaltShaker      -3.559         0.911          2.844          0              0              0              46
  41  PepperShaker    -3.185         0.741          1.279          0              0              0              47
  42  ButterKnife     -1.655         0.891          0.358          0              90             0              82
  43  DishSponge      -3.368         0.915          3.663          0              0              0              46
  44  Spoon           -1.787         0.892          0.152          0              90             0              82
  45  Mug             -3.537         1.541          2.224          0              90             0              77
  46  CounterTop      -3.381         0.950          3.335          0              0              0
  47  Drawer          -3.121         0.775          1.357          0              0              0
  48  Drawer          -3.121         0.777          2.916          0              0              0
  49  StoveBurner     -3.148         0.958          2.374          0              0              0
  50  Sink            -1.797         0.917          3.660          0              0              0
  51  Cabinet         -1.421         0.388          3.459          0              0              0
  52  StoveBurner     -3.424         0.958          2.374          0              0              0
  53  Cabinet         -3.365         1.931          2.676          0              0              0
  54  StoveBurner     -3.424         0.958          1.971          0              0              0
  55  CounterTop      -3.381         0.951          1.356          0              0              0
  56  Drawer          -3.121         0.781          3.295          0              0              0
  57  Cabinet         -2.205         0.388          3.459          0              0              0
  58  Cabinet         -2.963         0.388          3.459          0              0              0
  59  Cabinet         -2.992         0.388          2.683          0              0              0
  60  Cabinet         -3.352         2.205          1.715          0              0              0
  61  Cabinet         -3.352         2.205          2.653          0              0              0
  62  Cabinet         -2.189         0.388          3.466          0              0              0
  63  Cabinet         -3.365         1.931          3.963          0              0              0
  64  Cabinet         -3.365         1.931          1.056          0              0              0
  65  Cabinet         -2.992         0.388          1.037          0              0              0
  66  StoveBurner     -3.143         0.958          1.971          0              0              0
  67  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  68  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  69  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  70  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  71  Toaster         -2.654         0.902          4.064          0              180            0
  72  Fridge          -0.439         0.014          3.996          0              0              0
  73  LightSwitch     0.25           1.383          2.085          0              270            0
  74  Window          -1.430         1.338          -0.347         90             0              0
  75  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  76  SinkBasin       -1.802         0.778          3.700          0              0              0
  77  Microwave       -3.484         1.430          2.182          0              90             0
  78  GarbageCan      -1.184         -0.020         3.794          0              270            0
  79  Blinds          -1.404         2.092          -0.296         0              0              0
  80  Stool           -1.373         0.014          1.048          1.214          20.754         0
  81  Faucet          -1.788         0.903          3.931          270            90             0
  82  DiningTable     -1.399         0.010          0.238          0              0              0
  83  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn to the left, and then the right and move back to the white table. Turn to the right and face it. | STEP 2: Pick up the knife from the center of the table. | STEP 3: Carry the knife and turn to the right, then the left and right again, to move back to the sink. | STEP 4: Place the knife in the sink and turn on the water. Turn off the water and then pick up the knife. | STEP 5: Hold the knife and turn to the right. Turn right again and move to the white table, and face it on the right side.  | STEP 6: Place the knife on the right side of the white table. | END