Task: Put a clean butter knife 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           0.0            0.900          -0.75          0              180            0
   1  Potato          1.988          1.030          -0.651         0              270            0              90
   2  CellPhone       1.824          0.118          0.454          0              270            0              61
   3  CellPhone       -0.751         0.669          -1.332         0              0              0              60
   4  ButterKnife     0.107          0.925          0.273          0              0              0              77
   5  ButterKnife     -1.050         0.911          -1.513         0              0              0              69
   6  ButterKnife     -0.213         0.925          0.970          0              0              0              77
   7  Fork            1.714          0.584          0.052          0              270            0              54
   8  Spatula         1.612          0.156          1.153          0              90             0              78
   9  Egg             -1.592         1.526          0.201          0              90             0              92
  10  Cup             1.892          1.004          -0.599         0              270            0              90
  11  Plate           0.194          0.111          -1.471         0              0              0              58
  12  Plate           1.962          1.658          -1.129         0              270            0              57
  13  SoapBottle      -1.668         0.915          -1.318         0              0              0              69
  14  SoapBottle      0.305          0.116          -1.282         0              0              0              58
  15  Tomato          -1.721         0.618          0.013          0              90             0              92
  16  Tomato          -0.106         0.980          0.970          0              0              0              77
  17  PepperShaker    1.660          0.691          0.178          0              0              0              53
  18  Bread           1.802          0.992          -1.610         0              0              0              69
  19  Bread           -0.106         1.006          0.506          0              0              0              77
  20  Lettuce         0.321          1.002          0.273          0              0              0              77
  21  Lettuce         0.170          0.837          -1.435         0              0              0              93
  22  Mug             -1.197         0.108          -1.423         0              0              0              81
  23  Apple           -1.697         1.726          -0.269         0              90             0              92
  24  SoapBottle      1.986          0.915          1.107          0              0              0              69
  25  Cup             -1.697         1.467          -0.269         0              90             0              92
  26  Pot             1.975          0.938          0.384          0              180            0              55
  27  Fork            1.610          0.347          0.462          0              90             0              63
  28  Ladle           -0.213         0.969          0.041          0              0              0              77
  29  Kettle          1.681          0.9            0.091          0              0              0              69
  30  Egg             0.107          0.982          0.738          0              0              0              77
  31  Plate           0.000          0.924          0.041          0              0              0              77
  32  Pan             -1.286         0.9            -1.348         0              79.769         0              69
  33  Lettuce         -0.088         0.837          -1.435         0              0              0              93
  34  Spatula         -0.175         0.775          -1.546         0              90             0              93
  35  Apple           -1.750         1.522          0.013          0              90             0              92
  36  Knife           -0.106         0.947          -0.190         0              0              0              77
  37  SaltShaker      -1.290         0.109          -1.296         0              0              0              81
  38  PepperShaker    -0.418         0.111          -1.347         0              0              0              48
  39  CellPhone       -0.844         0.909          -1.318         0              0              0              69
  40  ButterKnife     -0.213         0.925          1.202          0              0              0              77
  41  Bread           -0.106         1.006          1.202          0              0              0              77
  42  Tomato          -1.796         0.097          1.288          0              270            0              83
  43  Potato          0.000          0.949          0.738          0              0              0              77
  44  DishSponge      1.712          0.224          1.350          0              0              0              78
  45  Spoon           0.214          0.926          0.738          0              0              0              77
  46  Mug             2.020          1.001          -0.808         0              0              0              90
  47  Bowl            0.972          1.678          -1.577         0              0              0              68
  48  Cabinet         -0.495         0.474          -1.149         0              0              0
  49  Window          -0.010         1.582          -1.821         0              0              0
  50  Drawer          0.805          0.475          -1.159         0              0              0
  51  StoveBurner     1.764          0.902          0.601          0              270            0
  52  Drawer          1.5            0.196          -0.019         0              0              0
  53  Drawer          1.5            0.629          -0.018         0              0              0
  54  Drawer          1.5            0.602          -0.019         0              270            0
  55  StoveBurner     1.975          0.902          0.384          0              270            0
  56  Cabinet         -1.703         2.022          -1.453         0              90             0
  57  Cabinet         1.789          2.019          -0.819         0              270            0
  58  Cabinet         0.494          0.474          -1.149         0              0              0
  59  Cabinet         0.409          0.475          0.444          0              0              0
  60  Drawer          -0.696         0.475          -1.159         0              0              0
  61  Drawer          1.5            0.140          0.599          0              270            0
  62  Cabinet         1.389          0.474          -1.149         0              0              0
  63  Drawer          1.5            0.305          0.600          0              0              0
  64  StoveBurner     1.975          0.902          0.601          0              270            0
  65  Drawer          1.5            0.429          -0.019         0              0              0
  66  StoveBurner     1.764          0.902          0.819          0              270            0
  67  Drawer          1.5            0.519          1.220          0              0              0
  68  Cabinet         1.705          2.019          -1.449         0              0              0
  69  CounterTop      0.002          0.947          -1.513         0              0              0
  70  Drawer          1.5            0.629          0.605          0              0              0
  71  Cabinet         -0.627         2.019          -1.449         0              0              0
  72  StoveBurner     1.764          0.902          0.384          0              270            0
  73  Drawer          1.5            0.538          0.600          0              0              0
  74  Sink            0.0            0.893          -1.434         0              0              0
  75  Drawer          1.5            0.782          1.220          0              270            0
  76  Window          2.217          1.565          -0.384         0              0              0
  77  CounterTop      -0.014         0.961          0.505          0              0              0
  78  Drawer          1.5            0.200          1.220          0              0              0
  79  StoveBurner     1.975          0.902          0.819          0              270            0
  80  Window          -3.240         1.616          2.693          0              270            0
  81  Cabinet         -1.389         0.474          -1.149         0              0              0
  82  LightSwitch     -0.153         1.291          3.700          0              180            0
  83  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  84  StoveKnob       1.602          0.917          0.570          0              270            180
  85  StoveKnob       1.602          0.917          0.625          0              270            180
  86  StoveKnob       1.602          0.917          0.739          0              270            180
  87  StoveKnob       1.602          0.917          0.680          0              270            180
  88  StoveKnob       1.602          0.917          0.462          0              270            180
  89  StoveKnob       1.602          0.917          0.517          0              270            180
  90  Microwave       1.932          0.899          -0.766         0              270            0
  91  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  92  Fridge          -1.764         0.0            0.014          0              90             0
  93  SinkBasin       -0.014         0.736          -1.435         0              0              0
  94  Toaster         1.977          0.900          -0.336         0              270            0
  95  Faucet          -0.020         1.137          -1.605         0              270            0
  96  Chair           -9.354         0.000          1.242          0              180            0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn right and walk over to the counter, then turn left to face the counter. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn left and walk over to the sink. | STEP 4: Put the butter knife in the sink and turn on the water, after a couple seconds turn off the water and remove the now clean butter knife. | STEP 5: Turn left and walk over to the counter. | STEP 6: Open the third drawer from the top to the left of the dish washer and put the clean butter knife inside then close the drawer. | END