Task: Put a clean knife on the shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.869          -3.25          0              0              0
   1  Potato          0.149          0.933          0.843          0              270            0              64
   2  Potato          0.883          0.805          -0.680         0              270            0              61
   3  ButterKnife     0.757          0.772          -0.625         0              270            0              61
   4  Spatula         0.574          0.775          -0.124         0              90             0              37
   5  Spatula         -1.620         0.715          -3.782         0              90             0              65
   6  Spoon           0.877          0.884          0.098          0              0              0              38
   7  Spoon           0.841          0.665          0.508          0              180            0              43
   8  Fork            0.901          0.665          0.630          0              0              0              43
   9  Fork            0.866          0.761          -0.061         0              90             0              37
  10  Cup             0.601          0.664          0.630          0              0              0              43
  11  Cup             -1.635         0.700          -0.875         0              0              0              74
  12  Tomato          0.708          0.713          -2.113         0              270            0              58
  13  SoapBottle      -1.719         0.701          -1.199         0              0              0              74
  14  Apple           0.661          0.718          0.387          0              0              0              43
  15  Apple           0.757          0.826          -0.680         0              270            0              61
  16  Pot             -2.097         0.930          1.049          0              0              0              45
  17  Plate           0.676          0.019          -0.184         0              0              0              48
  18  Fork            -1.635         0.702          -1.199         0              90             0              74
  19  SoapBottle      0.803          0.882          -0.176         0              0              0              38
  20  Apple           -1.224         0.105          -3.537         0              270            0              53
  21  Pan             -1.555         0.930          1.049          0              0              0              47
  22  Egg             -1.151         0.088          -3.610         0              270            0              53
  23  Spatula         -0.051         0.915          1.015          0              270            0              64
  24  Potato          0.630          0.805          -0.625         0              270            0              61
  25  Cup             0.149          0.899          1.101          0              270            0              64
  26  SaltShaker      0.901          0.661          0.448          0              0              0              43
  27  PepperShaker    -0.654         0.896          1.272          0              270            0              64
  28  ButterKnife     0.781          0.665          0.326          0              0              0              43
  29  DishSponge      0.720          0.760          -0.061         0              0              0              37
  30  Bread           -1.803         0.745          -1.416         0              0              0              74
  31  Lettuce         -1.084         0.973          0.955          41.452         1.687          2.953          64
  32  Tomato          -1.297         0.100          -3.647         0              270            0              53
  33  Spoon           -0.252         0.901          1.101          0              270            0              64
  34  Knife           -1.719         0.724          -1.524         0              0              0              74
  35  Mug             0.698          0.941          -1.360         0              270            0              51
  36  Bowl            -2.038         0.691          -1.003         0              0              0              74
  37  Drawer          0.706          0.766          -0.125         0              0              0
  38  CounterTop      0.792          0.919          -0.108         0              0              0
  39  Mirror          1.093          1.602          -0.643         0              0              0
  40  StoveBurner     -2.096         0.890          0.785          0              0              0
  41  Cabinet         0.507          0.345          -0.426         0              0              0
  42  StoveBurner     -1.552         0.890          0.785          0              0              0
  43  SideTable       0.770          -0.030         0.443          0              0              0
  44  Sink            0.753          0.882          -0.680         0              0              0
  45  StoveBurner     -2.096         0.890          1.049          0              0              0
  46  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  47  StoveBurner     -1.554         0.890          1.049          0              0              0
  48  Cabinet         0.507          0.345          0.156          0              0              0
  49  Cabinet         0.717          1.822          -0.398         0              0              0
  50  Cabinet         0.717          1.822          0.669          0              0              0
  51  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  52  Toaster         -0.522         0.886          1.081          0              180            0
  53  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  54  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  56  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  58  Fridge          0.680          -0.031         -1.957         0              0              0
  59  Window          -2.424         1.639          -2.453         90             270            0
  60  Microwave       -1.994         0.690          -3.651         0              0              0
  61  SinkBasin       0.757          0.762          -0.688         0              270            0
  62  LightSwitch     1.102          1.368          -3.737         0              270            0
  63  Shelf           -0.350         0.124          0.857          0              0              0
  64  DiningTable     -0.350         -0.025         0.857          0              0              0
  65  DiningTable     -1.909         -0.032         -3.507         0              0              0
  66  Blinds          -2.343         2.151          -2.437         0              270            0
  67  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  68  AluminumFoil    0.751          0.225          0.287          0              0              0
  69  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  70  Shelf           0.771          0.226          0.445          0              0              0
  71  Shelf           0.771          0.456          0.446          0              0              0
  72  Faucet          1.025          0.873          -0.678         270            180            0
  73  Shelf           -0.350         0.497          0.857          0              0              0
  74  DiningTable     -1.929         -0.035         -1.398         0              90             0
  75  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Go forward, past the fridge then turn left to go to the table. | STEP 2: Pick up the knife on the table, next to the bread. | STEP 3: Turn right, move forward, then turn right again to go to the sink. | STEP 4: Clean the knife in the sink. | STEP 5: Turn around, then turn right, then turn right again and turn to face the shelves next to the counter. | STEP 6: Put the knife on the top shelf, near the apple.  | END