Task: Put two knives in 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           -0.25          0.900          5.25           0              180            0
   1  Potato          2.137          1.550          5.376          0              270            0              77
   2  Potato          2.094          1.550          5.251          0              270            0              77
   3  DishSponge      0.107          1.579          0.207          0              0              0              68
   4  DishSponge      1.455          1.575          4.572          0              0              0              59
   5  Kettle          1.317          0.988          4.294          0              0              0              50
   6  Spoon           -0.574         0.761          6.240          0              225            0              91
   7  Spoon           -0.011         0.772          0.507          0              0              0              52
   8  Spatula         0.544          1.007          0.303          0              90             0              55
   9  Egg             2.009          1.565          5.251          0              270            0              77
  10  Egg             0.168          1.135          0.245          0              0              0              71
  11  Cup             0.273          1.093          0.213          0              0              0              71
  12  Knife           -0.334         0.789          6.742          0              315            0              91
  13  SoapBottle      0.440          1.579          0.339          0              90             0              69
  14  SoapBottle      0.815          0.143          0.339          0              0              0              61
  15  Bowl            2.009          1.514          6.001          0              270            0              77
  16  Bowl            0.150          0.759          6.541          0              270            0              91
  17  PepperShaker    0.999          0.987          0.212          0              0              0              55
  18  PepperShaker    -0.034         0.755          6.941          0              0              0              91
  19  Mug             -0.442         0.755          6.107          0              315            0              91
  20  Bowl            1.573          0.139          3.291          0              0              0              66
  21  Bread           -0.159         0.829          6.787          0              0              0              91
  22  Egg             -0.003         0.810          6.604          0              270            0              91
  23  Knife           0.028          0.789          6.787          0              90             0              91
  24  Fork            0.668          0.772          0.507          0              0              0              47
  25  Apple           -0.384         1.067          0.212          0              0              0              55
  26  Kettle          1.238          0.141          2.159          0              0              0              44
  27  Plate           0.212          0.760          6.196          0              135            0              91
  28  SaltShaker      -0.687         0.987          0.670          0              0              0              55
  29  Lettuce         1.403          1.081          0.440          0              0              0              55
  30  SoapBottle      0.622          1.579          0.119          0              0              0              69
  31  Spatula         -0.413         0.787          0.563          0              0              0              51
  32  PaperTowelRoll  1.135          1.096          4.670          0              0              0              56
  33  Pot             0.734          0.981          0.38           0              0              0              55
  34  Potato          -0.400         0.794          6.503          0              225            0              91
  35  ButterKnife     1.582          0.992          3.044          0              0              0              55
  36  PepperShaker    -0.535         0.987          0.578          0              0              0              55
  37  Pan             1.32           0.988          3.848          0              0              0              54
  38  Tomato          1.956          0.130          6.498          0              0              0              79
  39  DishSponge      0.745          0.143          0.260          0              0              0              61
  40  Cup             1.442          0.887          2.474          0              90             0              78
  41  Spoon           -0.459         0.993          0.395          0              0              0              55
  42  Mug             -0.308         0.987          0.486          0              0              0              55
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn to the left and go to the fridge, hang a left and go to the wall, hang a left and go to the dining table.  | STEP 2: Pick up the big knife that is on the dining table in front of the bread.  | STEP 3: Turn around and then go to the right, go to the drawer that is between the fridge and the stove.  | STEP 4: Open the drawer, put the knife inside the drawer, close the drawer.  | STEP 5: Turn around and go to the wall, hang a right and go to the dining table.  | STEP 6: Pick up the big knife that is on the dining table in front of the bread.  | STEP 7: Turn to the right and go past the dining table, then turn to the left and go to the drawer that is between the fridge and stove.  | STEP 8: Open the drawer, put the knife inside the drawer, close the drawer.  | END