Task: To wash an knife and place it on the kitchen table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          2.75           0              90             0
   1  Pan             2.116          1.027          -1.84          0              270            0              61
   2  Potato          1.777          1.068          1.555          0              136.999        0              57
   3  Potato          2.719          1.068          1.597          0              136.999        0              57
   4  Ladle           1.230          1.066          -1.987         0              90             0              57
   5  ButterKnife     -0.669         1.027          2.434          0              0              0              60
   6  ButterKnife     2.336          1.026          1.797          0              136.999        0              57
   7  ButterKnife     2.815          0.764          4.124          0              225            0              58
   8  WineBottle      2.451          0.765          3.97           0              225            0              58
   9  WineBottle      -0.360         1.028          1.356          0              0              0              60
  10  Glassbottle     -0.669         1.028          2.189          0              0              0              60
  11  Glassbottle     -0.916         0.077          2.779          0              0              0              112
  12  Pot             2.177          1.027          -1.599         0              0              0              56
  13  Spatula         -0.920         1.042          1.821          0              0              0              60
  14  Spatula         -0.544         1.042          0.508          0              0              0              60
  15  Cup             -0.851         0.815          1.414          0              90             0              114
  16  Cup             2.489          1.779          -1.833         0              0              0              96
  17  Plate           2.991          0.033          -1.074         0              0              0              99
  18  Plate           -0.418         1.027          0.600          0              0              0              60
  19  Knife           2.664          0.826          0.788          0              47.0           0              69
  20  Bowl            -0.852         2.288          -0.489         0              0              0              89
  21  Bowl            2.525          0.762          3.62           0              0              0              58
  22  SaltShaker      -0.660         0.797          1.844          0              0              0              62
  23  SaltShaker      1.350          1.023          -1.881         0              90             0              57
  24  PepperShaker    2.801          0.760          3.747          0              270            0              58
  25  Lettuce         -0.947         0.844          -0.184         0              90             0              101
  26  Lettuce         2.976          0.822          3.970          0              270            0              58
  27  Apple           -0.782         0.866          1.181          0              90             0              114
  28  Apple           -0.645         0.866          1.492          0              90             0              114
  29  Pan             2.042          1.017          1.779          0              0              0              57
  30  Glassbottle     2.113          0.765          3.527          0              225            0              58
  31  Knife           -0.714         0.841          1.103          0              180            0              114
  32  SoapBottle      2.425          1.025          -1.454         0              90             0              57
  33  Egg             2.106          1.905          -1.910         0              0              0              103
  34  Fork            2.761          0.800          -0.699         0              0              0              66
  35  Potato          -1.074         1.069          1.243          0              0              0              60
  36  Ladle           2.276          0.803          3.895          0              0              0              58
  37  Tomato          2.599          0.818          3.445          0              0              0              58
  38  Pot             1.761          1.027          -1.599         0              0              0              100
  39  WineBottle      2.626          0.765          3.970          0              270            0              58
  40  Plate           2.525          0.764          4.495          0              0              0              58
  41  Spatula         -0.418         1.042          1.821          0              90             0              60
  42  PaperTowelRoll  2.451          0.868          3.747          0              270            0              58
  43  Lettuce         2.276          0.822          3.747          0              270            0              58
  44  Apple           -1.038         0.127          2.748          0              0              0              112
  45  SaltShaker      1.198          0.787          -1.415         0              0              0              57
  46  PepperShaker    2.706          1.023          -0.236         0              0              0              57
  47  ButterKnife     -0.590         0.802          0.535          0              0              0              59
  48  Bread           2.046          0.832          4.372          0              329.999        0              58
  49  Cup             -0.968         1.440          -0.516         0              90             0              101
  50  DishSponge      2.100          0.764          4.192          0              270            0              58
  51  Bowl            2.302          0.762          4.32           0              0              0              58
  52  Spoon           -0.645         0.817          1.181          0              180            0              114
  53  Mug             2.790          0.759          3.529          0              329.999        0              58
  54  Sink            -0.716         1.023          1.333          0              0              0
  55  StoveBurner     1.835          1.018          -1.840         0              90             0
  56  StoveBurner     2.177          1.018          -1.599         0              0              0
  57  CounterTop      2.812          0.992          0.675          0              0              0
  58  DiningTable     2.419          0.003          3.930          0              0              0
  59  Drawer          -0.643         0.828          0.616          0              0              0
  60  CounterTop      -0.813         1.062          2.188          0              0              0
  61  StoveBurner     2.115          1.018          -1.840         0              270            0
  62  Drawer          -0.643         0.831          1.953          0              0              0
  63  Drawer          -0.643         0.833          2.418          0              0              0
  64  Drawer          1.347          0.836          -1.539         0              0              0
  65  Drawer          2.693          0.833          -1.131         0              0              0
  66  Drawer          2.693          0.833          -0.699         0              0              0
  67  Drawer          2.693          0.833          -0.267         0              0              0
  68  Drawer          2.693          0.833          0.163          0              0              0
  69  Drawer          2.524          0.833          0.720          0              2.000          0
  70  Drawer          2.232          0.833          1.036          0              2.000          0
  71  Drawer          1.936          0.833          1.354          0              2.000          0
  72  Drawer          1.646          0.833          1.670          0              2.000          0
  73  Cabinet         1.504          2.475          -1.710         0              0              0
  74  Cabinet         -0.823         2.220          1.621          0              0              0
  75  Cabinet         -0.823         2.220          0.615          0              0              0
  76  Cabinet         1.136          0.388          -1.355         0              0              0
  77  Cabinet         -0.356         0.383          2.626          0              0              0
  78  Cabinet         2.745          2.220          -1.690         0              0              0
  79  Cabinet         1.882          0.383          1.017          0              0              0
  80  Cabinet         1.307          0.473          1.640          0              0              0
  81  Cabinet         1.892          0.383          1.006          0              0              0
  82  Cabinet         2.467          0.383          0.383          0              0              0
  83  Cabinet         2.466          0.383          -0.475         0              0              0
  84  Cabinet         2.466          0.473          0.371          0              0              0
  85  Cabinet         2.386          2.475          -1.710         0              0              0
  86  Cabinet         -0.356         0.383          1.712          0              0              0
  87  Cabinet         2.745          2.220          0.019          0              0              0
  88  Cabinet         -0.663         2.496          0.157          0              0              0
  89  Cabinet         -0.663         2.496          -0.868         0              0              0
  90  Cabinet         -0.356         0.383          0.269          0              0              0
  91  Cabinet         -0.823         2.220          1.603          0              0              0
  92  Cabinet         -0.662         2.234          0.586          0              0              0
  93  Cabinet         2.745          2.220          -0.843         0              0              0
  94  Cabinet         2.745          2.220          -0.827         0              0              0
  95  Cabinet         -0.823         2.220          2.608          0              0              0
  96  Cabinet         2.732          2.226          -1.709         0              0              0
  97  Cabinet         1.137          2.226          -1.709         0              0              0
  98  Cabinet         2.466          0.383          -0.491         0              0              0
  99  Cabinet         2.466          0.383          -1.339         0              0              0
 100  StoveBurner     1.761          1.018          -1.599         0              0              0
 101  Fridge          -0.908         0.0            -0.405         0              0              0
 102  HousePlant      2.517          1.016          1.822          0              0              0
 103  Microwave       1.939          1.745          -1.826         0              0              0
 104  StoveKnob       2.017          1.041          -1.514         0              180            180
 105  StoveKnob       1.934          1.041          -1.514         0              180            180
 106  StoveKnob       2.017          1.041          -1.589         0              180            180
 107  StoveKnob       1.934          1.041          -1.589         0              180            180
 108  Window          1.756          1.608          4.762          90             0              0
 109  HousePlant      2.171          1.004          2.091          0              0              0
 110  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 111  LightSwitch     -0.099         1.410          -2.066         0              0              0
 112  GarbageCan      -0.951         -0.029         2.826          0              0              0
 113  Toaster         -1.007         1.018          2.238          0              90             0
 114  SinkBasin       -0.714         0.805          1.348          0              90             0
 115  Chair           1.615          0.004          4.310          0              107.976        0
 116  Faucet          -1.120         1.013          1.334          0              90             0
 117  Chair           2.759          0.004          3.086          0              358.967        0
 118
 119  NorthWall
 120  EastWall
 121  SouthWall
 122  WestWall

Plan:
STEP 1: Turn around and walk forward to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the sink. | STEP 4: Wash the knife in the sink and remove it. | STEP 5: Turn around and cross the room and turn left to face the kitchen table. | STEP 6: Place the knife on the kitchen table. | END