Task: Put a rinsed off knife 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          0.75           0              90             0
   1  Pan             -1.431         0.949          -1.525         0              0              0              89
   2  Pen             -2.116         0.913          -1.534         0              0              0              76
   3  Pen             -2.445         0.913          0.463          0              180            0              83
   4  Ladle           -1.886         0.954          -1.448         0              0              0              79
   5  Kettle          -1.431         0.949          -1.81          0              0              0              91
   6  ButterKnife     0.320          0.919          -1.657         0              270            0              60
   7  DishSponge      1.454          1.161          -1.345         0              0              0              87
   8  Glassbottle     -0.438         0.117          -1.683         0              0              0              67
   9  Glassbottle     1.459          0.215          1.137          0              0              0              98
  10  Spoon           1.036          0.776          -0.665         0              270            0              72
  11  Spoon           -2.079         0.911          0.377          0              0              0              83
  12  Spatula         -1.809         0.925          -1.707         0              90             0              79
  13  Spatula         -2.201         0.925          0.032          0              0              0              83
  14  Egg             -0.627         0.940          -1.448         0              0              0              81
  15  Egg             -1.886         0.939          -1.879         0              0              0              79
  16  Cup             -1.764         0.117          -1.538         0              0              0              88
  17  Cup             1.408          1.265          -0.021         0              270            0              103
  18  Plate           0.589          0.117          -1.585         0              90             0              75
  19  Plate           1.376          1.368          2.226          0              270            0              100
  20  SoapBottle      -1.957         0.910          0.463          0              0              0              83
  21  SoapBottle      1.031          0.114          -0.773         0              0              0              65
  22  Tomato          1.388          1.760          1.838          0              270            0              100
  23  Tomato          1.454          1.202          -1.002         0              0              0              87
  24  PepperShaker    0.927          0.906          -0.65          0              180            0              81
  25  PepperShaker    -0.751         0.106          -1.632         0              0              0              68
  26  SaltShaker      -1.039         1.845          -1.875         0              0              0              61
  27  Bread           0.664          0.989          -1.534         0              0              0              81
  28  Lettuce         1.010          0.980          -0.309         0              0              0              81
  29  Lettuce         1.376          1.436          2.476          0              270            0              100
  30  Mug             0.149          0.914          -1.708         0              270            0              60
  31  Apple           -0.086         0.817          -1.707         0              270            0              102
  32  Tomato          1.426          1.407          1.850          0              270            0              100
  33  Glassbottle     -0.309         0.117          -1.586         0              0              0              67
  34  Knife           0.916          0.802          -1.068         0              270            0              59
  35  Plate           -0.477         0.911          -1.874         0              0              0              81
  36  Fork            -1.835         0.911          0.204          0              0              0              83
  37  Ladle           -2.323         0.954          0.204          0              0              0              83
  38  Potato          1.332          1.859          2.432          0              270            0              100
  39  Lettuce         -2.201         0.979          0.291          0              0              0              83
  40  Kettle          -1.712         0.911          0.377          0              0              0              83
  41  Pen             -2.103         0.775          -1.565         0              270            0              76
  42  SaltShaker      -0.386         1.650          -1.839         0              0              0              63
  43  Cup             -2.140         0.112          -1.535         0              0              0              84
  44  Egg             1.414          1.191          -1.688         0              0              0              87
  45  Spatula         1.015          0.789          -1.013         0              270            0              59
  46  Bowl            1.283          1.656          -0.658         0              0              0              69
  47  SprayBottle     1.341          0.213          1.137          0              0              0              98
  48  Pan             -1.081         0.949          -1.81          0              0              0              77
  49  SoapBottle      1.375          1.162          -0.315         0              180            0              87
  50  Pot             0.967          0.9            0.249          0              0              0              81
  51  ButterKnife     -1.886         0.910          -1.620         0              0              0              79
  52  PepperShaker    0.919          0.110          -1.186         0              0              0              66
  53  DishSponge      0.217          0.919          -1.556         0              270            0              60
  54  Bread           -0.703         0.989          -1.789         0              0              0              81
  55  Apple           0.251          0.954          -1.808         0              270            0              60
  56  Spoon           1.176          0.912          -0.309         0              0              0              87
  57  Mug             1.070          0.957          -1.641         0              0              0              97
  58  Drawer          0.860          0.75           0.430          0              0              0
  59  Drawer          0.871          0.75           -1.134         0              0              0
  60  Sink            0.156          0.817          -1.801         0              270            0
  61  Cabinet         -0.868         2.005          -1.690         0              0              0
  62  Cabinet         -1.661         2.059          -1.684         0              90             0
  63  Cabinet         -0.817         2.059          -1.689         0              0              0
  64  Cabinet         0.860          0.402          0.665          0              0              0
  65  Cabinet         0.860          0.402          -0.552         0              0              0
  66  Cabinet         0.860          0.402          -1.365         0              0              0
  67  Cabinet         -0.244         0.402          -1.389         0              0              0
  68  Cabinet         -0.815         0.402          -1.389         0              0              0
  69  Cabinet         1.159          2.059          -0.334         0              0              0
  70  Cabinet         0.488          2.059          -1.689         0              0              0
  71  Cabinet         -0.193         2.059          -1.689         0              0              0
  72  Drawer          0.860          0.75           -0.699         0              0              0
  73  Cabinet         1.159          2.059          -1.019         0              0              0
  74  Cabinet         -1.611         2.005          -1.690         0              0              0
  75  Cabinet         0.832          0.401          -1.393         0              90             0
  76  Drawer          -2.105         0.75           -1.389         0              0              0
  77  StoveBurner     -1.081         0.941          -1.809         0              0              0
  78  Cabinet         -0.202         0.401          -1.391         0              90             0
  79  CounterTop      -1.973         0.945          -1.707         0              0              0
  80  Drawer          -0.375         0.75           -1.389         0              0              0
  81  CounterTop      1.164          0.946          -0.649         0              0              0
  82  StoveBurner     -1.081         0.941          -1.527         0              0              0
  83  CounterTop      -2.096         0.945          0.291          0              0              0
  84  Cabinet         -2.237         0.402          -1.389         0              0              0
  85  Drawer          0.584          0.75           -1.389         0              0              0
  86  Drawer          -1.795         0.75           -1.389         0              0              0
  87  CounterTop      1.5            1.197          -0.654         0              0              0
  88  Cabinet         -1.667         0.402          -1.389         0              0              0
  89  StoveBurner     -1.430         0.941          -1.525         0              0              0
  90  Drawer          -0.685         0.75           -1.389         0              0              0
  91  StoveBurner     -1.430         0.941          -1.809         0              0              0
  92  LightSwitch     -2.539         1.289          2.568          0              90             0
  93  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  94  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  95  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  96  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  97  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  98  GarbageCan      1.343          0.015          1.041          0              0              0
  99  HousePlant      1.440          1.153          0.593          0              0              0
 100  Fridge          1.417          0.0            2.101          0              0              0
 101  Window          -0.486         1.452          3.302          90             0              0
 102  SinkBasin       -0.063         0.765          -1.713         0              270            0
 103  Microwave       1.422          1.150          0.022          0              270            0
 104  Toaster         -2.066         0.900          -1.848         0              0              0
 105  Stool           -1.994         0.010          0.882          0              0              0
 106  Faucet          -0.096         1.041          -1.867         0              270            0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn right and go to the sink. | STEP 2: Pick up the knife on the left side of the sink.  | STEP 3: Go to the right side of the sink. | STEP 4: Rinse off the knife in the sink and pick it back up. | STEP 5: Turn left toward the bread on the counter. | STEP 6: Put the knife in the drawer below the bread. | END