Task: Place a rinsed knife inside 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           2.0            0.930          0.25           0              270            0
   1  Potato          1.164          0.749          -1.459         0              0              0              107
   2  Potato          -1.119         1.036          1.470          0              90             0              109
   3  DishSponge      -0.192         0.899          -1.542         0              45             0              82
   4  ButterKnife     -0.935         0.900          -0.047         0              0              0              61
   5  Glassbottle     3.084          0.176          -0.404         0              0              0              72
   6  Glassbottle     0.454          1.260          -1.776         0              0              0              77
   7  Pot             3.031          1.464          -1.235         0              270            0              75
   8  Spatula         3.069          0.762          0.032          0              90             0              106
   9  Spatula         -0.909         0.721          0.163          0              270            0              61
  10  Spoon           3.028          0.748          0.032          0              180            0              106
  11  Spoon           0.156          0.901          -1.379         0              45             0              82
  12  Fork            1.622          0.908          0.747          0              0              0              92
  13  CellPhone       0.468          0.703          -1.434         0              0              0              69
  14  Mug             -0.299         1.258          -1.534         0              135            0              78
  15  Lettuce         -0.806         0.965          -0.722         0              45             0              61
  16  SaltShaker      0.239          0.509          -1.475         0              0              0              47
  17  PepperShaker    2.966          0.897          -0.499         0              0              0              60
  18  SoapBottle      0.494          0.909          -1.373         0              0              0              82
  19  Cup             2.971          0.173          -0.702         0              0              0              73
  20  Knife           0.716          0.936          0.135          0              36.810         0              92
  21  Knife           0.622          0.936          0.727          0              0              0              92
  22  Plate           3.181          1.477          -1.648         0              0              0              59
  23  Glassbottle     0.254          1.260          -1.741         0              0              0              77
  24  SoapBottle      0.101          0.909          -1.660         0              0              0              82
  25  Potato          1.008          1.111          -1.503         0              0              0              107
  26  Fork            0.783          0.908          0.572          0              36.810         0              92
  27  Ladle           1.009          0.945          0.525          0              36.810         0              92
  28  Pot             -0.600         0.902          -1.090         0              135            0              50
  29  Kettle          -0.237         0.900          -1.099         0              45             0              90
  30  Spatula         -0.827         0.341          0.163          0              270            0              66
  31  Knife           -0.285         0.925          -1.450         0              135            0              82
  32  Lettuce         0.798          0.973          0.426          0              0              0              92
  33  Cup             3.122          0.898          -0.599         0              0              0              60
  34  SaltShaker      -0.005         0.129          -1.280         0              45             0              86
  35  Egg             0.836          0.963          0.747          0              0              0              92
  36  PepperShaker    -0.745         0.127          0.576          0              0              0              62
  37  ButterKnife     0.667          0.908          0.416          0              36.810         0              92
  38  Apple           -1.052         1.071          1.258          0              90             0              109
  39  Pan             0.341          0.873          -1.649         0              167.065        0              82
  40  Bread           -1.008         0.979          0.399          0              0              0              61
  41  CellPhone       0.497          0.908          0.421          0              36.810         0              92
  42  DishSponge      -0.909         0.130          -0.186         0              0              0              81
  43  Tomato          0.356          0.945          0.527          0              0              0              92
  44  Spoon           3.111          0.748          0.298          0              0              0              106
  45  Bowl            0.760          1.671          -1.410         0              0              0              76
  46  Mug             3.049          0.966          0.591          0              270            0              104
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn left, hang a right around the counter and walk to the counter ahead with the toaster. | STEP 2: Pick up the knife to the right of the toaster on the counter. | STEP 3: Turn left, hang a left at the stove and walk to the sink ahead. | STEP 4: Put the knife inside the sink to the right of the spoon, rinse it for a few seconds and pick it back up. | STEP 5: Turn around, walk towards the fridge, and turn around again to face the cabinets under the counter to the right of the sink. | STEP 6: Put the rinsed knife inside the far right drawer and close the drawer. | END