Task: clean a knife and put it back onto the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.900          -1.75          0              270            0
   1  Pan             1.026          1.640          1.158          0              90             0              83
   2  Statue          0.859          0.914          -0.729         0              0              0              61
   3  Statue          -1.292         0.936          -0.118         0              0              0              60
   4  Potato          0.783          1.165          1.063          0              270            0              83
   5  Potato          0.783          1.432          1.349          0              270            0              83
   6  ButterKnife     -1.229         0.933          -1.167         0              0              0              60
   7  Glassbottle     1.148          1.667          -2.234         0              270            0              59
   8  Glassbottle     1.240          1.667          -0.593         0              270            0              69
   9  Fork            0.875          0.703          -0.731         0              0              0              58
  10  Fork            -0.697         0.777          -0.832         0              90             0              81
  11  Spoon           0.875          0.496          -0.648         0              270            0              64
  12  Spatula         -0.698         0.948          -1.308         0              0              0              60
  13  Knife           1.029          0.934          -0.208         0              0              0              61
  14  Plate           1.194          1.669          -2.029         0              270            0              59
  15  Plate           0.859          0.914          -0.381         0              0              0              61
  16  Tomato          -0.772         0.974          -1.540         0              0              0              60
  17  Tomato          -1.104         0.974          -0.118         0              0              0              60
  18  SoapBottle      0.913          0.121          0.349          0              270            0              55
  19  Bowl            1.087          1.646          1.540          0              270            0              83
  20  Lettuce         0.688          0.988          -1.879         0              0              0              66
  21  Lettuce         -0.642         0.857          -0.745         0              90             0              81
  22  Bread           0.905          0.944          1.254          0              270            0              83
  23  Bread           -0.550         1.014          -1.231         0              0              0              60
  24  Mug             0.944          0.906          -1.793         0              0              0              66
  25  Mug             1.147          1.661          0.025          0              270            0              68
  26  Statue          -1.816         0.871          2.754          0              180            0              60
  27  Glassbottle     1.114          0.912          -0.555         0              0              0              61
  28  Bread           0.966          1.482          1.254          0              270            0              83
  29  CreditCard      -0.624         0.930          0.162          0              0              0              60
  30  CellPhone       -1.418         0.930          -0.905         0              0              0              60
  31  Potato          0.688          0.941          -0.381         0              0              0              61
  32  Knife           -1.167         0.957          0.144          0              0              0              60
  33  Fork            -1.104         0.934          -0.380         0              0              0              60
  34  Pan             0.848          0.946          -1.080         0              0              0              54
  35  Lettuce         1.026          1.212          1.063          0              270            0              83
  36  Plate           0.861          0.111          -1.972         0              0              0              65
  37  Apple           1.026          1.185          1.254          0              270            0              83
  38  Pot             1.077          0.950          -1.504         0              0              0              56
  39  Spatula         -0.587         0.795          -0.573         0              0              0              81
  40  PaperTowelRoll  -1.985         0.658          2.874          0              0              0              86
  41  Tomato          -1.104         0.974          -0.905         0              0              0              60
  42  Egg             0.905          1.172          1.444          0              270            0              83
  43  SaltShaker      1.240          1.662          -2.302         0              270            0              59
  44  PepperShaker    1.199          0.907          -1.965         0              0              0              66
  45  Vase            -1.423         0.169          2.621          0              0              0              86
  46  ButterKnife     0.834          0.703          -0.648         0              270            0              58
  47  SoapBottle      -1.007         0.179          0.608          0              180            0              80
  48  Vase            -0.846         0.934          0.239          0              0              0              60
  49  Bowl            1.126          2.211          -1.408         0              270            0              67
  50  DishSponge      1.114          0.910          -0.729         0              0              0              61
  51  Spoon           0.773          0.912          -1.965         0              0              0              66
  52  Cup             0.688          0.908          -0.208         0              0              0              61
  53  Mug             0.905          0.858          1.540          0              270            0              83
  54  StoveBurner     0.842          0.919          -1.098         0              0              0
  55  Cabinet         0.648          0.474          0.244          0              270            0
  56  StoveBurner     1.077          0.919          -1.504         0              0              0
  57  StoveBurner     0.842          0.919          -1.504         0              0              0
  58  Drawer          0.637          0.755          -0.649         0              270            0
  59  Cabinet         0.949          2.159          -2.375         0              270            0
  60  CounterTop      -1.238         0.968          -0.643         0              0              0
  61  CounterTop      0.931          0.946          -0.208         0              0              0
  62  StoveBurner     1.077          0.919          -1.098         0              0              0
  63  Drawer          0.637          0.268          -0.649         0              270            0
  64  Drawer          0.637          0.547          -0.649         0              270            0
  65  Cabinet         0.648          0.475          -1.714         0              0              0
  66  CounterTop      0.931          0.946          -2.051         0              0              0
  67  Cabinet         0.948          2.439          -1.780         0              270            0
  68  Cabinet         0.948          2.159          -0.140         0              270            0
  69  Cabinet         0.949          2.159          -0.758         0              270            0
  70  Sink            -0.699         0.927          -0.649         0              0              0
  71  LightSwitch     -2.371         1.218          3.049          0              180            0
  72  StoveKnob       0.673          0.899          -1.373         315            90             180
  73  StoveKnob       0.673          0.899          -1.519         315            90             180
  74  StoveKnob       0.673          0.899          -1.086         315            90             180
  75  StoveKnob       0.673          0.899          -1.237         315            90             180
  76  Toaster         0.984          0.900          0.329          0              270            0
  77  Window          0.014          0.998          -2.640         90             0              0
  78  Window          -2.996         0.998          -2.640         90             0              0
  79  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  80  GarbageCan      -0.946         -0.036         0.575          0              180            0
  81  SinkBasin       -0.698         0.765          -0.647         0              90             0
  82  Microwave       1.042          1.680          -1.295         0              270            0
  83  Fridge          0.966          0.0            1.253          0              0              0
  84  HousePlant      -1.354         0.919          -1.540         0              0              0
  85  Shelf           -1.635         0.172          2.715          0              180            0
  86  Shelf           -1.635         0.552          2.715          0              180            0
  87  Shelf           -1.635         0.880          2.715          0              180            0
  88  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  89  Chair           -1.832         0.002          -0.034         0              119.999        0
  90  Chair           -1.854         0.002          -0.956         0              67.887         0
  91  Faucet          -0.867         1.161          -0.651         0              0              0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: turn left walk straight then turn left and walk towards the coffee machine and turn left and walk straight towards the dishwasher and turn right | STEP 2: pick up the knife on the counter top | STEP 3: turn right walk straight then turn right towards the sink | STEP 4: put the knife inside the sink and fill it with water then drain the water and remove the knife | STEP 5: turn right then walk straight then turn right again towards the counter | STEP 6: put the knife down on the counter top | END