Task: Wash a plate and put it on a shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          -0.25          0              90             0
   1  Vase            -1.444         1.658          -1.747         0              0              0              72
   2  DishSponge      -1.649         0.717          -1.073         0              0              0              74
   3  DishSponge      -1.975         0.119          -1.726         0              0              0              78
   4  ButterKnife     -1.627         0.912          -0.288         0              0              0              59
   5  WineBottle      -0.514         0.122          -1.413         0              0              0              68
   6  WineBottle      -2.143         0.875          3.422          0              225            0              61
   7  Spatula         -2.015         0.733          -1.579         0              270            0              78
   8  Spatula         -2.845         0.893          3.513          0              315            0              61
   9  Pot             1.328          0.957          -1.688         0              180            0              62
  10  Fork            0.525          0.912          -1.776         0              90             0              59
  11  Egg             -0.263         1.169          2.286          0              180            0              84
  12  Cup             -2.126         0.118          -1.360         0              0              0              60
  13  Cup             1.614          0.908          -1.346         0              0              0              79
  14  Plate           0.591          0.120          -1.445         0              0              0              66
  15  Plate           -2.434         0.878          3.207          0              135            0              61
  16  Plate           -1.888         1.661          -1.710         0              0              0              55
  17  SoapBottle      -0.844         0.193          2.097          0              90             0              89
  18  SoapBottle      -2.659         0.875          2.884          0              0              0              61
  19  Tomato          0.307          1.619          2.100          0              180            0              84
  20  Bowl            -2.405         0.876          2.758          0              135            0              61
  21  Bowl            -0.263         1.570          2.040          0              180            0              84
  22  Bread           -2.300         0.958          3.580          0              225            0              61
  23  Bread           -3.122         0.961          3.475          0              135            0              61
  24  Lettuce         -2.659         0.939          3.444          0              270            0              61
  25  Mug             -0.263         0.383          2.083          0              180            0              84
  26  Apple           1.316          1.816          -1.596         0              0              0              83
  27  Book            -1.649         0.116          -0.841         0              0              0              64
  28  Fork            1.760          0.910          -1.528         0              90             0              79
  29  Tomato          -1.961         0.959          -0.939         0              0              0              59
  30  Egg             0.193          0.828          1.966          0              180            0              84
  31  Kettle          -2.807         0.875          3.728          0              0              0              61
  32  Vase            0.036          0.115          -1.451         0              0              0              67
  33  Cup             -0.377         1.142          2.286          0              180            0              84
  34  WineBottle      -3.017         0.875          3.580          0              135            0              61
  35  Plate           -0.377         0.807          2.023          0              180            0              84
  36  Spatula         -1.627         0.927          0.363          0              0              0              59
  37  Potato          0.307          0.425          2.054          0              180            0              84
  38  Pot             0.974          0.957          -1.419         0              180            0              77
  39  Knife           -2.081         0.740          -1.441         0              270            0              78
  40  SaltShaker      1.687          0.906          -1.437         0              0              0              79
  41  PepperShaker    -1.975         0.116          -1.506         0              0              0              60
  42  Lettuce         -0.833         0.977          -1.471         0              0              0              59
  43  ButterKnife     -2.420         0.874          2.983          0              135            0              61
  44  Bread           -3.165         0.961          3.073          0              270            0              61
  45  Vase            -1.627         0.913          0.037          0              0              0              59
  46  DishSponge      1.622          0.719          -1.443         0              0              0              75
  47  Apple           -2.458         0.929          3.737          0              225            0              61
  48  Pan             1.328          0.957          -1.420         0              180            0              63
  49  Spoon           1.542          0.911          -1.346         0              90             0              79
  50  SoapBottle      -2.152         0.879          3.073          0              270            0              61
  51  Mug             1.210          1.756          -1.629         0              0              0              83
  52  Statue          3.676          0.168          1.410          0              334.521        0              82
  53  Statue          3.668          0.540          1.800          0              0              0              82
  54  Bowl            0.997          2.154          -1.710         0              0              0              73
  55  Cabinet         -2.171         2.009          -1.538         0              0              0
  56  Sink            0.024          0.771          -1.708         0              270            0
  57  Cabinet         1.444          2.259          -1.542         0              0              0
  58  StoveBurner     0.974          0.957          -1.688         0              180            0
  59  CounterTop      -1.866         0.947          -0.614         0              0              0
  60  Cabinet         -2.217         0.373          -1.874         0              0              0
  61  DiningTable     -2.663         0.002          3.208          0              0              0
  62  StoveBurner     1.328          0.957          -1.688         0              180            0
  63  StoveBurner     1.328          0.957          -1.420         0              180            0
  64  Cabinet         -1.478         0.373          -1.235         0              0              0
  65  Cabinet         1.775          0.372          -1.242         0              0              0
  66  Cabinet         0.774          0.372          -1.242         0              0              0
  67  Cabinet         0.375          0.372          -1.242         0              0              0
  68  Cabinet         -0.574         0.372          -1.238         0              0              0
  69  Cabinet         1.775          2.009          -1.542         0              0              0
  70  Cabinet         0.524          2.009          -1.542         0              0              0
  71  Cabinet         -0.714         2.009          -1.542         0              0              0
  72  Cabinet         -1.671         2.009          -1.538         0              0              0
  73  Cabinet         0.854          2.259          -1.542         0              0              0
  74  Drawer          -1.636         0.683          -0.930         0              0              0
  75  Drawer          1.650          0.682          -1.396         0              0              0
  76  Drawer          0.600          0.682          -1.396         0              0              0
  77  StoveBurner     0.974          0.957          -1.419         0              180            0
  78  Drawer          -2.062         0.683          -1.579         0              0              0
  79  CounterTop      1.645          0.945          -1.527         0              0              0
  80  Shelf           3.725          0.880          1.671          0              90             0
  81  LightSwitch     2.830          1.266          -0.748         0              0              0
  82  Shelf           3.726          0.552          1.671          0              90             0
  83  Microwave       1.150          1.655          -1.614         0              0              0
  84  Fridge          -0.035         0.0            2.177          0              180            0
  85  Window          -0.115         1.802          -1.896         90             0              0
  86  Window          -4.009         1.799          0.310          90             90             0
  87  Shelf           3.726          0.172          1.671          0              90             0
  88  SinkBasin       -0.330         0.686          -1.581         0              270            0
  89  GarbageCan      -0.870         -0.001         2.136          0              90             0
  90  StoveKnob       1.089          0.913          -1.243         45             0              0
  91  StoveKnob       1.208          0.913          -1.243         45             0              0
  92  StoveKnob       1.340          0.913          -1.243         45             0              0
  93  StoveKnob       0.961          0.913          -1.243         45             0              0
  94  Toaster         1.637          0.900          -1.673         0              0              0
  95  Chair           -3.505         0.002          3.290          0              105.736        0
  96  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  97  HousePlant      -2.663         0.835          3.209          0              0              0
  98  Faucet          -0.187         0.922          -1.75          0              311.166        0
  99  ShelvingUnit    3.726          0.006          1.671          0              90             0
 100  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 101  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 102  Chair           -2.934         0.002          2.437          0              28.531         0
 103  Chair           -1.698         0.002          3.235          0              245.204        0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn right and go to the cabinet to the right of the stove | STEP 2: Take the dirty plate out of the cabinet and close the door | STEP 3: Move right to face the sink | STEP 4: Put the plate in the right side of the sink and turn on the water. Turn off the water and take the plate out of the sink | STEP 5: Turn left and go to the shelves | STEP 6: Place the plate on the right side of the second from the bottom shelf | END