Task: Wash a knife, put it into a drawer

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          1.25           0              270            0
   1  Pan             1.765          0.938          0.819          0              180            0              70
   2  Potato          0.321          0.949          0.506          0              0              0              81
   3  Potato          -1.648         0.863          0.295          0              90             0              96
   4  CellPhone       1.603          0.580          0.052          0              270            0              58
   5  Ladle           0.107          0.969          0.273          0              0              0              81
   6  Ladle           1.658          0.165          0.454          0              270            0              65
   7  ButterKnife     1.713          0.470          0.047          0              0              0              69
   8  ButterKnife     1.900          0.911          1.333          0              0              0              73
   9  Spoon           1.603          0.764          1.001          0              180            0              79
  10  Spatula         -1.462         0.926          -1.610         0              0              0              73
  11  Spatula         0.170          0.775          -1.380         0              270            0              97
  12  Plate           -0.106         0.924          0.273          0              0              0              81
  13  Plate           -0.990         1.678          -1.614         0              0              0              75
  14  Knife           1.658          0.784          1.438          0              180            0              79
  15  Knife           1.769          0.785          1.074          0              0              0              79
  16  SoapBottle      0.000          0.929          0.506          0              0              0              81
  17  SoapBottle      -1.841         1.665          -1.131         0              90             0              60
  18  Tomato          -1.796         0.097          1.329          0              270            0              87
  19  Tomato          -1.663         0.618          -0.081         0              90             0              96
  20  SaltShaker      -0.648         0.667          -1.362         0              0              0              64
  21  SaltShaker      1.660          0.691          0.178          0              0              0              57
  22  PepperShaker    1.885          1.655          -1.280         0              270            0              61
  23  PepperShaker    -1.256         0.907          -1.707         0              0              0              73
  24  Lettuce         -1.463         0.988          -0.964         0              0              0              73
  25  Lettuce         -0.175         0.837          -1.490         0              0              0              97
  26  Mug             1.924          1.654          -1.129         0              270            0              61
  27  Mug             1.892          1.001          -0.547         0              270            0              94
  28  SoapBottle      -0.361         0.118          -1.347         0              0              0              52
  29  Cup             -1.692         0.561          -0.269         0              90             0              96
  30  Pot             0.889          0.9            -1.412         0              0              0              73
  31  Fork            -0.261         0.761          -1.490         0              90             0              97
  32  Ladle           -0.213         0.969          0.738          0              0              0              81
  33  Kettle          -0.213         0.926          0.506          0              0              0              81
  34  Egg             -1.692         0.620          0.107          0              90             0              96
  35  Plate           1.802          0.910          -1.513         0              0              0              73
  36  Pan             1.975          0.938          0.384          0              180            0              59
  37  Lettuce         1.986          0.988          1.182          0              0              0              73
  38  Spatula         -1.551         0.926          -1.113         0              0              0              73
  39  Apple           0.107          0.978          1.202          0              0              0              81
  40  Knife           1.658          0.784          1.147          0              180            0              79
  41  SaltShaker      -0.320         0.921          0.041          0              0              0              81
  42  PepperShaker    1.810          0.691          -0.210         0              0              0              57
  43  CellPhone       1.769          0.119          0.454          0              270            0              65
  44  ButterKnife     0.000          0.925          -0.190         0              0              0              81
  45  Bread           -0.106         1.006          0.041          0              0              0              81
  46  Tomato          -1.749         0.894          -0.175         0              90             0              96
  47  Potato          -1.697         1.700          0.201          0              90             0              96
  48  DishSponge      -0.106         0.925          0.970          0              0              0              81
  49  Spoon           0.904          0.672          -1.332         0              90             0              54
  50  Mug             0.000          0.920          0.738          0              0              0              81
  51  Bowl            -1.803         1.467          0.201          0              90             0              96
  52  Cabinet         -0.495         0.474          -1.149         0              0              0
  53  Window          -0.010         1.582          -1.821         0              0              0
  54  Drawer          0.805          0.475          -1.159         0              0              0
  55  StoveBurner     1.764          0.902          0.601          0              270            0
  56  Drawer          1.5            0.196          -0.019         0              0              0
  57  Drawer          1.5            0.629          -0.018         0              0              0
  58  Drawer          1.5            0.602          -0.019         0              270            0
  59  StoveBurner     1.975          0.902          0.384          0              270            0
  60  Cabinet         -1.703         2.022          -1.453         0              90             0
  61  Cabinet         1.789          2.019          -0.819         0              270            0
  62  Cabinet         0.494          0.474          -1.149         0              0              0
  63  Cabinet         0.409          0.475          0.444          0              0              0
  64  Drawer          -0.696         0.475          -1.159         0              0              0
  65  Drawer          1.5            0.140          0.599          0              270            0
  66  Cabinet         1.389          0.474          -1.149         0              0              0
  67  Drawer          1.5            0.305          0.600          0              0              0
  68  StoveBurner     1.975          0.902          0.601          0              270            0
  69  Drawer          1.5            0.429          -0.019         0              0              0
  70  StoveBurner     1.764          0.902          0.819          0              270            0
  71  Drawer          1.5            0.519          1.220          0              0              0
  72  Cabinet         1.705          2.019          -1.449         0              0              0
  73  CounterTop      0.002          0.947          -1.513         0              0              0
  74  Drawer          1.5            0.629          0.605          0              0              0
  75  Cabinet         -0.627         2.019          -1.449         0              0              0
  76  StoveBurner     1.764          0.902          0.384          0              270            0
  77  Drawer          1.5            0.538          0.600          0              0              0
  78  Sink            0.0            0.893          -1.434         0              0              0
  79  Drawer          1.5            0.782          1.220          0              270            0
  80  Window          2.217          1.565          -0.384         0              0              0
  81  CounterTop      -0.014         0.961          0.505          0              0              0
  82  Drawer          1.5            0.200          1.220          0              0              0
  83  StoveBurner     1.975          0.902          0.819          0              270            0
  84  Window          -3.240         1.616          2.693          0              270            0
  85  Cabinet         -1.389         0.474          -1.149         0              0              0
  86  LightSwitch     -0.153         1.291          3.700          0              180            0
  87  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  88  StoveKnob       1.602          0.917          0.570          0              270            180
  89  StoveKnob       1.602          0.917          0.625          0              270            180
  90  StoveKnob       1.602          0.917          0.739          0              270            180
  91  StoveKnob       1.602          0.917          0.680          0              270            180
  92  StoveKnob       1.602          0.917          0.462          0              270            180
  93  StoveKnob       1.602          0.917          0.517          0              270            180
  94  Microwave       1.932          0.899          -0.766         0              270            0
  95  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  96  Fridge          -1.764         0.0            0.014          0              90             0
  97  SinkBasin       -0.014         0.736          -1.435         0              0              0
  98  Toaster         1.977          0.900          -0.336         0              270            0
  99  Faucet          -0.020         1.137          -1.605         0              270            0
 100  Chair           -9.354         0.000          1.242          0              180            0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Turn left, go to the counter, turn right, go forward a bit, turn right in front of the table | STEP 2: Pick up the knife on the table | STEP 3: Turn around and go to the sink | STEP 4: Put the knife into the sink, open the water, wash the knife, pick up the knife from the sink | STEP 5: Turn left, go to the counter | STEP 6: Open the second drawer from the top, put the knife in the drawer, close the drawer | END