Task: Putting away yellow handled knives in the 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          5.75           0              270            0
   1  Pan             1.562          0.988          3.848          0              0              0              53
   2  DishSponge      -0.244         0.759          6.128          0              225            0              95
   3  DishSponge      1.276          0.890          2.034          0              90             0              82
   4  Kettle          -0.530         0.761          6.196          0              225            0              95
   5  Kettle          1.32           0.988          3.848          0              0              0              58
   6  Pot             1.559          0.988          4.294          0              0              0              57
   7  Spatula         0.213          0.775          6.763          0              315            0              95
   8  Fork            0.305          0.760          6.604          0              270            0              95
   9  Fork            1.236          0.772          3.360          0              0              0              52
  10  Egg             1.966          1.565          5.626          0              270            0              81
  11  Cup             0.300          0.756          6.284          0              135            0              95
  12  Cup             1.442          0.886          1.983          0              90             0              82
  13  Plate           1.499          1.576          4.694          0              0              0              63
  14  Knife           -0.378         0.789          6.698          0              135            0              95
  15  Tomato          2.137          1.565          5.251          0              270            0              81
  16  Bowl            1.490          0.139          2.012          0              0              0              48
  17  Bowl            1.140          1.578          0.295          0              0              0              66
  18  PepperShaker    0.745          0.138          0.655          0              0              0              65
  19  SaltShaker      1.314          0.987          3.324          0              0              0              59
  20  Bread           0.150          0.829          6.479          0              270            0              95
  21  Lettuce         -0.159         0.848          6.787          0              0              0              95
  22  Mug             0.319          1.574          0.339          0              90             0              73
  23  Mug             1.384          1.043          0.847          0              270            0              59
  24  Bowl            0.079          0.759          6.063          0              135            0              95
  25  Bread           1.099          1.048          0.434          0              0              0              59
  26  Egg             0.273          1.147          0.180          0              0              0              75
  27  Knife           -0.332         0.789          6.217          0              315            0              95
  28  Fork            -0.003         0.760          6.604          0              270            0              95
  29  Apple           -0.312         0.834          6.541          0              270            0              95
  30  Kettle          1.593          0.981          3.25           0              255.000        0              59
  31  Plate           0.055          0.144          0.429          0              0              0              68
  32  SaltShaker      1.543          1.572          1.471          0              0              0              69
  33  Lettuce         2.051          1.604          6.001          0              270            0              81
  34  SoapBottle      1.540          2.207          4.131          0              0              0              47
  35  Spatula         1.442          0.905          2.239          0              0              0              82
  36  PaperTowelRoll  0.847          1.096          0.303          0              0              0              59
  37  Pot             1.317          0.988          4.294          0              0              0              54
  38  Potato          1.403          1.027          0.668          0              0              0              59
  39  ButterKnife     -0.221         0.760          6.941          0              0              0              95
  40  PepperShaker    0.102          0.755          6.305          0              135            0              95
  41  Pan             1.313          0.985          4.284          0              0              0              54
  42  Tomato          1.442          0.940          2.474          0              90             0              82
  43  DishSponge      -0.183         0.759          6.237          0              135            0              95
  44  Cup             1.135          0.988          4.762          0              0              0              60
  45  Spoon           -0.034         0.761          6.169          0              0              0              95
  46  Mug             0.064          1.092          0.213          0              0              0              75
  47  Cabinet         1.307          2.455          4.360          0              0              0
  48  Cabinet         1.054          0.422          1.710          0              0              0
  49  Drawer          1.280          0.808          4.718          0              0              0
  50  Cabinet         1.307          2.455          3.607          0              0              0
  51  Drawer          0.736          0.802          0.521          0              0              0
  52  Drawer          1.276          0.802          3.291          0              0              0
  53  StoveBurner     1.562          0.982          3.848          0              0              0
  54  StoveBurner     1.317          0.982          4.294          0              0              0
  55  Drawer          -0.482         0.802          0.521          0              0              0
  56  Drawer          0.124          0.802          0.521          0              0              0
  57  StoveBurner     1.559          0.982          4.294          0              0              0
  58  StoveBurner     1.320          0.982          3.848          0              0              0
  59  CounterTop      1.391          1.028          0.897          0              0              0
  60  CounterTop      1.391          1.028          4.716          0              0              0
  61  Cabinet         1.054          0.422          4.548          0              0              0
  62  Cabinet         1.317          2.134          0.517          0              0              0
  63  Cabinet         1.317          2.134          4.889          0              0              0
  64  Cabinet         1.317          2.134          3.095          0              0              0
  65  Cabinet         0.443          0.422          0.743          0              0              0
  66  Cabinet         1.270          2.134          0.434          0              0              0
  67  Cabinet         -0.775         0.422          0.743          0              0              0
  68  Cabinet         -0.168         0.422          0.743          0              0              0
  69  Cabinet         1.317          2.134          1.534          0              0              0
  70  Cabinet         1.054          0.422          2.990          0              0              0
  71  Cabinet         1.054          0.422          2.944          0              0              0
  72  Cabinet         -0.263         2.134          0.434          0              0              0
  73  Cabinet         0.252          2.134          0.434          0              0              0
  74  Sink            1.391          1.006          2.326          0              0              0
  75  Microwave       0.108          0.981          0.262          0              0              0
  76  HousePlant      -0.165         0.826          6.444          0              0              0
  77  CoffeeMachine   1.551          0.982          0.953          0              270            0
  78  Toaster         1.473          0.981          4.715          0              270            0
  79  Window          -2.065         1.916          3.626          90             90             0
  80  Window          1.763          2.007          2.299          90             270            0
  81  Fridge          2.035          0.0            5.625          0              0              0
  82  SinkBasin       1.387          0.880          2.338          0              90             0
  83  GarbageCan      2.001          -0.044         6.503          0              0              0
  84  StoveKnob       1.140          0.934          3.987          45             270            0
  85  StoveKnob       1.140          0.934          4.309          45             270            0
  86  StoveKnob       1.140          0.934          4.140          45             270            0
  87  StoveKnob       1.140          0.934          3.824          45             270            0
  88  Vase            -0.226         0.834          6.993          0              0              0
  89  Vase            2.098          0.043          7.070          0              257.232        0
  90  Vase            -0.594         0.835          6.130          0              225            0
  91  LightSwitch     -2.0           1.549          6.045          0              90             0
  92  Safe            2.046          1.072          7.054          0              257.232        0
  93  Faucet          1.534          1.025          2.371          0              294.391        0
  94  Blinds          1.738          2.563          2.312          0              90             0
  95  DiningTable     -0.156         0.000          6.474          0              0              0
  96  Chair           0.291          0.002          6.142          0              310.162        0
  97  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn to the left then walk straight and face the right black round table | STEP 2: Pick up the yellow handled knife from the table | STEP 3: Turn around walk straight then turn left at the counter next to the refrigerator and face it | STEP 4: Open the top drawer and place the knife inside | STEP 5: Turn around walk straight then turn right and face the black round table | STEP 6: Pick up the yellow handled knife from the table | STEP 7: Turn right then walk straight and then turn left and face the counter left of the refrigerator | STEP 8: Open the top drawer and place the knife inside | END