Task: place cleaned knife in bottom drawer to left of dishwasher

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           0.900          1.5            0              180            0
   1  CellPhone       0.321          0.923          1.202          0              0              0              82
   2  CellPhone       1.658          0.760          1.365          0              270            0              80
   3  DishSponge      1.815          0.236          0.047          0              0              0              57
   4  DishSponge      -0.305         0.114          -1.347         0              0              0              53
   5  ButterKnife     1.764          0.349          -0.020         0              0              0              70
   6  ButterKnife     1.658          0.120          0.527          0              270            0              66
   7  Spoon           -0.213         0.926          0.970          0              0              0              82
   8  Spatula         1.860          0.704          -0.145         0              90             0              58
   9  Spatula         1.812          0.156          1.284          0              0              0              83
  10  Pot             1.975          0.938          0.601          0              180            0              69
  11  Egg             1.892          1.063          -0.651         0              270            0              95
  12  Cup             0.256          0.758          -1.490         0              0              0              98
  13  Plate           0.107          0.924          0.041          0              0              0              82
  14  Plate           -1.902         0.910          -0.914         0              0              0              74
  15  Knife           1.769          0.785          1.147          0              0              0              80
  16  Knife           0.107          0.947          1.202          0              0              0              82
  17  Tomato          0.107          0.980          0.970          0              0              0              82
  18  Tomato          -1.874         0.966          -1.318         0              0              0              74
  19  Bowl            -1.483         1.678          -1.614         0              0              0              76
  20  SaltShaker      1.812          0.221          1.219          0              0              0              83
  21  SaltShaker      -1.050         0.907          -1.221         0              0              0              74
  22  PepperShaker    1.587          1.675          -1.577         0              0              0              73
  23  Bread           0.000          1.006          0.506          0              0              0              82
  24  Lettuce         -0.320         1.002          0.738          0              0              0              82
  25  Mug             -0.002         0.755          -1.490         0              270            0              98
  26  Mug             1.355          0.955          -1.362         0              0              0              96
  27  Apple           -0.002         0.813          -1.380         0              0              0              98
  28  Apple           -1.803         1.522          -0.269         0              90             0              97
  29  SoapBottle      0.321          0.929          0.970          0              0              0              82
  30  Cup             -0.249         0.112          -1.472         0              0              0              53
  31  Pot             -1.639         0.915          -0.914         0              0              0              74
  32  Fork            0.170          0.761          -1.380         0              270            0              98
  33  Ladle           -1.151         0.157          -1.487         0              0              0              86
  34  Kettle          1.765          0.938          0.384          0              180            0              77
  35  Egg             -1.697         1.526          -0.081         0              90             0              97
  36  Plate           0.214          0.924          0.738          0              0              0              82
  37  Pan             1.986          0.911          1.258          0              90             0              74
  38  Lettuce         -1.803         1.752          -0.175         0              90             0              97
  39  Spatula         1.603          0.778          1.001          0              180            0              80
  40  Apple           -1.796         0.094          1.288          0              270            0              88
  41  Knife           0.661          0.933          -1.610         0              90             0              74
  42  SaltShaker      1.195          0.105          -1.352         0              0              0              67
  43  PepperShaker    -0.867         1.675          -1.539         0              0              0              76
  44  CellPhone       1.712          0.543          1.088          0              0              0              72
  45  ButterKnife     1.713          0.470          -0.020         0              0              0              70
  46  Bread           -0.213         1.006          0.506          0              0              0              82
  47  Tomato          -1.855         1.524          -0.081         0              90             0              97
  48  Potato          -1.645         1.700          0.201          0              90             0              97
  49  DishSponge      1.824          0.119          0.672          0              270            0              66
  50  Spoon           -0.088         0.761          -1.380         0              0              0              98
  51  Mug             -1.803         1.656          -1.056         0              90             0              61
  52  Bowl            1.095          1.678          -1.652         0              0              0              73
  53  Cabinet         -0.495         0.474          -1.149         0              0              0
  54  Window          -0.010         1.582          -1.821         0              0              0
  55  Drawer          0.805          0.475          -1.159         0              0              0
  56  StoveBurner     1.764          0.902          0.601          0              270            0
  57  Drawer          1.5            0.196          -0.019         0              0              0
  58  Drawer          1.5            0.629          -0.018         0              0              0
  59  Drawer          1.5            0.602          -0.019         0              270            0
  60  StoveBurner     1.975          0.902          0.384          0              270            0
  61  Cabinet         -1.703         2.022          -1.453         0              90             0
  62  Cabinet         1.789          2.019          -0.819         0              270            0
  63  Cabinet         0.494          0.474          -1.149         0              0              0
  64  Cabinet         0.409          0.475          0.444          0              0              0
  65  Drawer          -0.696         0.475          -1.159         0              0              0
  66  Drawer          1.5            0.140          0.599          0              270            0
  67  Cabinet         1.389          0.474          -1.149         0              0              0
  68  Drawer          1.5            0.305          0.600          0              0              0
  69  StoveBurner     1.975          0.902          0.601          0              270            0
  70  Drawer          1.5            0.429          -0.019         0              0              0
  71  StoveBurner     1.764          0.902          0.819          0              270            0
  72  Drawer          1.5            0.519          1.220          0              0              0
  73  Cabinet         1.705          2.019          -1.449         0              0              0
  74  CounterTop      0.002          0.947          -1.513         0              0              0
  75  Drawer          1.5            0.629          0.605          0              0              0
  76  Cabinet         -0.627         2.019          -1.449         0              0              0
  77  StoveBurner     1.764          0.902          0.384          0              270            0
  78  Drawer          1.5            0.538          0.600          0              0              0
  79  Sink            0.0            0.893          -1.434         0              0              0
  80  Drawer          1.5            0.782          1.220          0              270            0
  81  Window          2.217          1.565          -0.384         0              0              0
  82  CounterTop      -0.014         0.961          0.505          0              0              0
  83  Drawer          1.5            0.200          1.220          0              0              0
  84  StoveBurner     1.975          0.902          0.819          0              270            0
  85  Window          -3.240         1.616          2.693          0              270            0
  86  Cabinet         -1.389         0.474          -1.149         0              0              0
  87  LightSwitch     -0.153         1.291          3.700          0              180            0
  88  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  89  StoveKnob       1.602          0.917          0.570          0              270            180
  90  StoveKnob       1.602          0.917          0.625          0              270            180
  91  StoveKnob       1.602          0.917          0.739          0              270            180
  92  StoveKnob       1.602          0.917          0.680          0              270            180
  93  StoveKnob       1.602          0.917          0.462          0              270            180
  94  StoveKnob       1.602          0.917          0.517          0              270            180
  95  Microwave       1.932          0.899          -0.766         0              270            0
  96  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  97  Fridge          -1.764         0.0            0.014          0              90             0
  98  SinkBasin       -0.014         0.736          -1.435         0              0              0
  99  Toaster         1.977          0.900          -0.336         0              270            0
 100  Faucet          -0.020         1.137          -1.605         0              270            0
 101  Chair           -9.354         0.000          1.242          0              180            0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: go forward to counter to left of sink | STEP 2: pick up yellow handle knife from counter | STEP 3: go to sink to the right | STEP 4: place knife in sink, turn on water, turn off water, pick up knife from sink | STEP 5: turn left, go to bottom drawer to the left of dishwasher | STEP 6: open bottom drawer to the left of dishwasher, place knife in drawer, close drawer | END