Task: put washed knife 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           1.25           0.900          1.0            0              0              0
   1  Pan             -1.750         1.675          -0.175         0              180            0              81
   2  Ladle           -1.114         1.724          -1.614         0              0              0              60
   3  ButterKnife     1.714          0.120          0.454          0              270            0              50
   4  ButterKnife     1.802          0.911          -1.513         0              0              0              58
   5  Spoon           1.658          0.121          0.745          0              270            0              50
   6  Egg             0.107          0.982          0.970          0              0              0              66
   7  Plate           -0.213         0.924          0.970          0              0              0              66
   8  Plate           0.170          0.759          -1.435         0              0              0              82
   9  Knife           -0.213         0.947          0.506          0              90             0              66
  10  SoapBottle      0.107          0.929          0.273          0              0              0              66
  11  Tomato          -1.750         1.524          0.201          0              90             0              81
  12  Lettuce         -0.213         1.002          0.273          0              0              0              66
  13  SoapBottle      -0.193         0.118          -1.534         0              0              0              37
  14  Cup             0.321          0.923          0.273          0              0              0              66
  15  Pot             0.889          0.9            -1.412         0              0              0              58
  16  Fork            1.658          0.584          -0.238         0              0              0              43
  17  Ladle           1.714          0.807          1.365          0              270            0              64
  18  Kettle          1.765          0.938          0.819          0              180            0              55
  19  Egg             -1.663         0.620          -0.081         0              90             0              81
  20  Plate           0.000          0.924          1.202          0              0              0              66
  21  Pan             1.765          0.938          0.384          0              180            0              61
  22  Lettuce         0.000          1.002          0.506          0              0              0              66
  23  Spatula         -0.002         0.775          -1.324         0              270            0              82
  24  Apple           -1.855         1.522          -0.269         0              90             0              81
  25  Knife           1.986          0.933          1.107          0              0              0              58
  26  SaltShaker      -1.360         1.675          -1.727         0              0              0              60
  27  PepperShaker    -0.249         0.111          -1.222         0              0              0              37
  28  CellPhone       1.603          0.118          0.527          0              270            0              50
  29  ButterKnife     2.030          0.911          -1.318         0              0              0              58
  30  Bread           -0.320         1.006          0.041          0              0              0              66
  31  Tomato          -1.721         0.618          -0.269         0              90             0              81
  32  Potato          0.661          0.935          -1.318         0              0              0              58
  33  DishSponge      -1.796         0.041          1.288          0              270            0              72
  34  Spoon           1.815          0.118          -0.020         0              0              0              41
  35  Mug             -0.088         0.755          -1.546         0              0              0              82
  36  Bowl            1.900          0.909          1.333          0              0              0              58
  37  Cabinet         -0.495         0.474          -1.149         0              0              0
  38  Window          -0.010         1.582          -1.821         0              0              0
  39  Drawer          0.805          0.475          -1.159         0              0              0
  40  StoveBurner     1.764          0.902          0.601          0              270            0
  41  Drawer          1.5            0.196          -0.019         0              0              0
  42  Drawer          1.5            0.629          -0.018         0              0              0
  43  Drawer          1.5            0.602          -0.019         0              270            0
  44  StoveBurner     1.975          0.902          0.384          0              270            0
  45  Cabinet         -1.703         2.022          -1.453         0              90             0
  46  Cabinet         1.789          2.019          -0.819         0              270            0
  47  Cabinet         0.494          0.474          -1.149         0              0              0
  48  Cabinet         0.409          0.475          0.444          0              0              0
  49  Drawer          -0.696         0.475          -1.159         0              0              0
  50  Drawer          1.5            0.140          0.599          0              270            0
  51  Cabinet         1.389          0.474          -1.149         0              0              0
  52  Drawer          1.5            0.305          0.600          0              0              0
  53  StoveBurner     1.975          0.902          0.601          0              270            0
  54  Drawer          1.5            0.429          -0.019         0              0              0
  55  StoveBurner     1.764          0.902          0.819          0              270            0
  56  Drawer          1.5            0.519          1.220          0              0              0
  57  Cabinet         1.705          2.019          -1.449         0              0              0
  58  CounterTop      0.002          0.947          -1.513         0              0              0
  59  Drawer          1.5            0.629          0.605          0              0              0
  60  Cabinet         -0.627         2.019          -1.449         0              0              0
  61  StoveBurner     1.764          0.902          0.384          0              270            0
  62  Drawer          1.5            0.538          0.600          0              0              0
  63  Sink            0.0            0.893          -1.434         0              0              0
  64  Drawer          1.5            0.782          1.220          0              270            0
  65  Window          2.217          1.565          -0.384         0              0              0
  66  CounterTop      -0.014         0.961          0.505          0              0              0
  67  Drawer          1.5            0.200          1.220          0              0              0
  68  StoveBurner     1.975          0.902          0.819          0              270            0
  69  Window          -3.240         1.616          2.693          0              270            0
  70  Cabinet         -1.389         0.474          -1.149         0              0              0
  71  LightSwitch     -0.153         1.291          3.700          0              180            0
  72  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  73  StoveKnob       1.602          0.917          0.570          0              270            180
  74  StoveKnob       1.602          0.917          0.625          0              270            180
  75  StoveKnob       1.602          0.917          0.739          0              270            180
  76  StoveKnob       1.602          0.917          0.680          0              270            180
  77  StoveKnob       1.602          0.917          0.462          0              270            180
  78  StoveKnob       1.602          0.917          0.517          0              270            180
  79  Microwave       1.932          0.899          -0.766         0              270            0
  80  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  81  Fridge          -1.764         0.0            0.014          0              90             0
  82  SinkBasin       -0.014         0.736          -1.435         0              0              0
  83  Toaster         1.977          0.900          -0.336         0              270            0
  84  Faucet          -0.020         1.137          -1.605         0              270            0
  85  Chair           -9.354         0.000          1.242          0              180            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: walk to face kitchen island | STEP 2: pick up sharp knife from island | STEP 3: walk to face sink | STEP 4: wash and remove knife from sink | STEP 5: turn left to face drawers under counters | STEP 6: put knife in drawer near dishwasher | END