Task: Putting a clean knife of the white table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.914          2.5            0              180            0
   1  Pan             -3.143         0.966          1.971          0              0              0              63
   2  Potato          -1.391         0.923          -0.053         0              90             0              79
   3  DishSponge      -3.540         1.458          2.922          0              0              0              50
   4  ButterKnife     -1.787         0.891          0.255          0              90             0              79
   5  Kettle          -3.424         0.966          1.971          0              0              0              51
   6  Spoon           -1.921         0.790          3.7            0              0              0              73
   7  Spoon           -1.391         0.892          0.255          0              90             0              79
   8  Cup             -1.523         0.891          0.564          0              90             0              79
   9  Plate           -3.176         0.919          1.189          0              0              0              52
  10  Knife           -1.391         0.915          0.461          0              180            0              79
  11  SoapBottle      -1.127         0.891          0.564          0              90             0              79
  12  Bowl            -3.463         0.914          1.440          0              0              0              52
  13  PepperShaker    -2.561         0.077          3.586          0              0              0              54
  14  Bread           -3.081         0.996          2.844          0              0              0              43
  15  Bread           -1.127         0.972          -0.053         0              90             0              79
  16  Mug             -3.425         1.989          1.999          0              0              0              57
  17  Mug             -3.473         1.541          2.120          0              90             0              74
  18  Apple           -1.666         0.849          3.7            0              0              0              73
  19  Apple           -0.089         1.601          4.033          0              180            0              69
  20  Egg             -3.473         1.581          2.224          0              90             0              74
  21  Knife           -1.259         0.915          0.049          0              180            0              79
  22  Fork            -1.655         0.892          0.152          0              180            0              79
  23  Bread           -0.994         0.972          0.152          0              90             0              79
  24  Potato          -0.089         1.306          4.062          0              180            0              69
  25  Plate           -3.005         0.904          3.677          0              0              0              43
  26  Pot             -3.144         0.963          2.374          0              0              0              46
  27  Kettle          -3.424         0.966          2.374          0              0              0              49
  28  WineBottle      -3.654         0.916          3.663          0              0              0              43
  29  Bowl            -3.459         1.994          2.305          0              0              0              58
  30  Tomato          -0.440         1.054          4.114          0              180            0              69
  31  Cup             -3.176         0.915          1.524          0              0              0              52
  32  Spatula         -1.439         0.930          4.214          0              270            0              43
  33  SoapBottle      -3.463         0.915          1.106          0              0              0              52
  34  Lettuce         -1.523         0.977          0.255          0              90             0              79
  35  Pan             -2.614         0.902          3.620          0              0              0              43
  36  Apple           -1.161         0.147          3.820          0              270            0              75
  37  SaltShaker      -3.538         1.451          3.504          0              0              0              60
  38  PepperShaker    -1.259         0.887          0.358          0              90             0              79
  39  ButterKnife     -3.272         0.915          3.336          0              0              0              43
  40  DishSponge      -1.919         0.915          4.146          0              0              0              43
  41  Spoon           -3.559         0.916          1.524          0              0              0              52
  42  Mug             -0.994         0.886          0.461          0              180            0              79
  43  CounterTop      -3.381         0.950          3.335          0              0              0
  44  Drawer          -3.121         0.775          1.357          0              0              0
  45  Drawer          -3.121         0.777          2.916          0              0              0
  46  StoveBurner     -3.148         0.958          2.374          0              0              0
  47  Sink            -1.797         0.917          3.660          0              0              0
  48  Cabinet         -1.421         0.388          3.459          0              0              0
  49  StoveBurner     -3.424         0.958          2.374          0              0              0
  50  Cabinet         -3.365         1.931          2.676          0              0              0
  51  StoveBurner     -3.424         0.958          1.971          0              0              0
  52  CounterTop      -3.381         0.951          1.356          0              0              0
  53  Drawer          -3.121         0.781          3.295          0              0              0
  54  Cabinet         -2.205         0.388          3.459          0              0              0
  55  Cabinet         -2.963         0.388          3.459          0              0              0
  56  Cabinet         -2.992         0.388          2.683          0              0              0
  57  Cabinet         -3.352         2.205          1.715          0              0              0
  58  Cabinet         -3.352         2.205          2.653          0              0              0
  59  Cabinet         -2.189         0.388          3.466          0              0              0
  60  Cabinet         -3.365         1.931          3.963          0              0              0
  61  Cabinet         -3.365         1.931          1.056          0              0              0
  62  Cabinet         -2.992         0.388          1.037          0              0              0
  63  StoveBurner     -3.143         0.958          1.971          0              0              0
  64  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  65  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  68  Toaster         -2.654         0.902          4.064          0              180            0
  69  Fridge          -0.439         0.014          3.996          0              0              0
  70  LightSwitch     0.25           1.383          2.085          0              270            0
  71  Window          -1.430         1.338          -0.347         90             0              0
  72  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  73  SinkBasin       -1.802         0.778          3.700          0              0              0
  74  Microwave       -3.484         1.430          2.182          0              90             0
  75  GarbageCan      -1.184         -0.020         3.794          0              270            0
  76  Blinds          -1.404         2.092          -0.296         0              0              0
  77  Stool           -1.373         0.014          1.048          1.214          20.754         0
  78  Faucet          -1.788         0.903          3.931          270            90             0
  79  DiningTable     -1.399         0.010          0.238          0              0              0
  80  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Go to the right side of the white table | STEP 2: Grab the large knife off of the table | STEP 3: Turn left and go to the sink | STEP 4: Wash the knife in the sink and then take it out | STEP 5: Turn around and go to the white table | STEP 6: Put the knife on the table | END