Task: Pick up a knife, wash the knife, 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           -2.25          0.900          1.75           0              90             0
   1  Pan             -3.506         1.560          3.061          0              0              0              62
   2  Ladle           -2.011         1.164          0.567          0              0              0              55
   3  DishSponge      -1.111         0.931          0.359          0              0              0              67
   4  DishSponge      -2.403         0.487          0.579          0              0              0              58
   5  Fork            -1.288         0.932          0.567          0              0              0              67
   6  Fork            -1.199         0.932          0.428          0              0              0              67
   7  Spatula         -0.785         1.062          2.144          0              180            0              45
   8  Egg             -0.362         1.258          0.508          0              0              0              68
   9  Cup             -1.274         0.047          0.551          0              0              0              49
  10  Plate           -0.908         1.045          2.144          0              0              0              45
  11  Plate           -1.195         0.047          0.381          0              0              0              49
  12  SoapBottle      -2.388         1.125          0.379          0              0              0              55
  13  SoapBottle      -2.592         0.487          0.545          0              0              0              48
  14  Bowl            -3.572         0.909          2.991          0              90             0              62
  15  SaltShaker      -2.497         0.091          0.613          0              0              0              48
  16  Bread           -0.908         1.133          2.593          0              0              0              45
  17  Mug             -1.111         0.926          0.221          0              90             0              67
  18  Fork            -1.996         0.904          0.578          0              0              0              53
  19  SoapBottle      -3.851         1.125          0.662          0              0              0              52
  20  Pot             -3.000         1.133          0.227          0              270            0              59
  21  Ladle           -0.771         1.164          0.659          0              0              0              57
  22  Potato          -3.639         0.942          3.203          0              90             0              62
  23  Plate           -0.538         1.046          2.369          0              0              0              45
  24  Bread           -0.908         1.133          3.266          0              0              0              45
  25  Lettuce         -0.292         1.124          2.144          0              0              0              45
  26  Spatula         -0.168         1.062          1.920          0              0              0              45
  27  Pan             -0.266         1.038          2.561          0              0              0              45
  28  Egg             -1.568         1.184          0.108          0              0              0              42
  29  Cup             -0.908         1.046          1.920          0              0              0              45
  30  SaltShaker      -0.538         1.043          3.266          0              0              0              45
  31  Knife           -3.778         1.157          0.473          0              90             0              52
  32  Bowl            -0.662         1.044          2.593          0              0              0              45
  33  PepperShaker    -1.195         0.045          0.664          0              0              0              49
  34  ButterKnife     -2.262         1.124          0.379          0              0              0              55
  35  Apple           -2.639         1.192          0.284          0              0              0              55
  36  Tomato          -2.262         1.165          0.567          0              0              0              55
  37  DishSponge      -1.156         0.049          0.551          0              0              0              49
  38  Spoon           -0.538         1.048          2.817          0              0              0              45
  39  Mug             -0.377         1.094          3.194          0              270            0              61
  40  StoveKnob       -3.322         1.053          0.709          45             0              0
  41  StoveBurner     -3.474         1.097          0.227          0              180            0
  42  Sink            -1.394         0.982          0.439          0              0              0
  43  StoveBurner     -3.474         1.097          0.479          0              180            0
  44  StoveKnob       -3.164         1.053          0.709          45             0              0
  45  DiningTable     -0.620         0.017          2.486          0              0              0
  46  Drawer          -2.043         0.608          0.594          0              0              0
  47  Drawer          -2.043         0.216          0.594          0              0              0
  48  Drawer          -2.498         0.216          0.594          0              0              0
  49  Cabinet         -1.001         0.393          0.734          0              0              0
  50  StoveBurner     -3.000         1.097          0.480          0              0              0
  51  StoveKnob       -3.492         1.053          0.709          45             0              0
  52  CounterTop      -3.856         1.160          0.379          0              0              0
  53  Drawer          -2.043         0.937          0.599          0              0              0
  54  Drawer          -2.509         0.937          0.599          0              0              0
  55  CounterTop      -2.280         1.160          0.379          0              0              0
  56  StoveKnob       -2.985         1.053          0.709          45             0              0
  57  CounterTop      -0.514         1.160          0.492          0              0              0
  58  Drawer          -2.498         0.608          0.594          0              0              0
  59  StoveBurner     -3.000         1.097          0.227          0              0              0
  60  Cabinet         -1.733         0.393          0.734          0              0              0
  61  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  62  Fridge          -3.519         0.0            2.717          0              90             0
  63  Window          -1.394         1.924          0.014          90             0              0
  64  Window          -3.266         1.924          0.014          90             0              0
  65  Toaster         -0.225         1.038          2.865          0              270            0
  66  GarbageCan      -3.696         0.002          2.008          0              0              0
  67  SinkBasin       -1.389         0.921          0.428          0              0              0
  68  Microwave       -0.366         1.113          0.430          0              0              0
  69  HousePlant      -2.155         1.101          0.169          0              332.897        0
  70  LightSwitch     -2.584         1.299          3.5            0              180            0
  71  Faucet          -1.393         1.373          0.168          0              270            0
  72  NorthWall
  73  SouthWall
  74  SouthWall

Plan:
STEP 1: Turn to your right and walk to the counter with the tomato on it. | STEP 2: Pick up the knife that is behind the tomato. | STEP 3: Move to your left to the sink. | STEP 4: Place the knife in the sink and turn on the faucet to partially fill the sink with water, wash the knife, drain the sink, pick the knife up. | STEP 5: Turn and walk in the direction of the door, hang a right to the table to the right of the door. | STEP 6: Place the knife to the right of the loaf of bread on the left end of the table. | END