Task: Clean the dirty place setting, and put it back on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.0            0.900          0.75           0              180            0
   1  Potato          -0.087         0.800          -0.541         0              0              0              102
   2  Potato          2.156          0.946          -0.430         0              0              0              45
   3  DishSponge      1.558          0.770          -0.498         0              180            0              75
   4  DishSponge      -0.734         0.820          -1.110         0              0              0              104
   5  Kettle          0.759          2.154          1.429          0              0              0              54
   6  Kettle          1.485          0.116          -0.498         0              180            0              53
   7  ButterKnife     -0.836         0.820          -1.328         0              0              0              104
   8  ButterKnife     1.688          0.911          1.468          0              0              0              80
   9  Pot             0.281          0.964          1.347          0              0              0              60
  10  Pot             1.955          0.915          1.383          0              0              0              80
  11  Spoon           1.902          0.912          -0.345         0              0              0              59
  12  Spatula         -0.294         0.926          1.553          0              270            0              56
  13  Plate           -0.151         0.914          1.214          0              0              0              56
  14  Cup             2.479          0.112          1.077          0              0              0              49
  15  Cup             1.141          0.909          -0.769         0              0              0              45
  16  Cup             1.447          1.653          -0.693         0              180            0              82
  17  Bowl            1.872          1.652          -0.734         0              180            0              82
  18  SaltShaker      -0.694         0.817          -1.308         0              90             0              104
  19  SaltShaker      2.256          1.650          1.470          0              0              0              69
  20  Lettuce         2.221          0.992          1.383          0              0              0              80
  21  Lettuce         2.777          1.644          -0.644         0              0              0              100
  22  SoapBottle      -0.839         0.826          -1.155         0              90             0              104
  23  Plate           2.754          0.914          1.468          0              0              0              80
  24  Fork            1.155          0.912          1.044          0              0              0              80
  25  Pot             0.634          0.915          -0.430         0              0              0              45
  26  Bread           2.715          1.077          -0.644         0              0              0              100
  27  Egg             3.180          0.878          -0.543         0              0              0              100
  28  Kettle          0.710          0.9            -0.772         0              0              0              45
  29  Tomato          -2.019         0.455          1.459          0              270            0              98
  30  Cup             -0.983         0.818          -1.308         0              90             0              104
  31  Spatula         1.955          0.926          1.129          0              0              0              80
  32  Apple           -0.151         0.980          1.553          0              0              0              56
  33  Pan             0.678          0.964          1.345          0              0              0              83
  34  Lettuce         2.488          0.992          1.129          0              0              0              80
  35  SaltShaker      1.862          0.111          1.236          0              0              0              65
  36  Knife           -0.983         0.853          -1.257         0              90             0              104
  37  Potato          2.838          0.761          -0.565         0              0              0              100
  38  PepperShaker    1.447          1.651          -0.810         0              180            0              67
  39  ButterKnife     0.888          0.911          -0.6           0              0              0              45
  40  Bowl            2.715          1.286          -0.775         0              0              0              100
  41  DishSponge      0.178          2.156          1.428          0              0              0              79
  42  Spoon           2.488          0.912          1.299          0              0              0              80
  43  Mug             1.428          0.965          -0.577         0              0              0              45
  44  Sink            0.050          0.902          -0.648         0              0              0
  45  CounterTop      1.358          0.947          -0.600         0              0              0
  46  Cabinet         2.986          2.009          1.304          0              0              0
  47  Cabinet         1.022          2.009          -0.607         0              180            0
  48  StoveBurner     0.678          0.923          1.082          0              0              0
  49  Cabinet         2.371          0.402          0.995          0              0              0
  50  Drawer          -0.125         0.792          0.995          0              0              0
  51  StoveBurner     0.281          0.923          1.082          0              0              0
  52  Cabinet         1.025          0.402          0.995          0              0              0
  53  Cabinet         1.023          0.402          -0.296         0              180            0
  54  Cabinet         0.974          2.259          1.304          0              0              0
  55  Cabinet         0.979          2.009          -0.607         0              180            0
  56  CounterTop      -0.158         0.947          1.299          0              0              0
  57  Cabinet         1.725          2.009          1.304          0              0              0
  58  Drawer          2.205          0.792          -0.294         0              180            0
  59  Drawer          1.869          0.792          -0.294         0              180            0
  60  StoveBurner     0.281          0.923          1.347          0              0              0
  61  Drawer          2.512          0.792          0.995          0              0              0
  62  Cabinet         1.673          0.402          -0.296         0              180            0
  63  Drawer          1.524          0.792          0.995          0              0              0
  64  Drawer          1.174          0.792          -0.294         0              180            0
  65  Cabinet         1.720          0.402          0.995          0              0              0
  66  Cabinet         2.348          2.009          -0.607         0              180            0
  67  Cabinet         1.676          2.009          -0.607         0              180            0
  68  Cabinet         1.673          2.009          1.304          0              0              0
  69  Cabinet         2.326          2.009          1.304          0              0              0
  70  Cabinet         2.370          2.009          1.304          0              0              0
  71  Cabinet         0.021          2.009          1.304          0              0              0
  72  Cabinet         1.025          2.009          1.304          0              0              0
  73  Cabinet         -0.274         0.402          0.995          0              0              0
  74  Cabinet         1.675          0.402          0.995          0              0              0
  75  Drawer          1.524          0.792          -0.294         0              180            0
  76  Drawer          2.187          0.792          0.995          0              0              0
  77  Cabinet         2.977          0.402          0.995          0              0              0
  78  Drawer          1.862          0.792          0.995          0              0              0
  79  Cabinet         0.072          2.259          1.304          0              0              0
  80  CounterTop      1.917          0.947          1.299          0              0              0
  81  Cabinet         2.328          0.402          0.995          0              0              0
  82  Cabinet         1.723          2.009          -0.607         0              180            0
  83  StoveBurner     0.677          0.923          1.345          0              0              0
  84  Cabinet         0.355          2.009          -0.607         0              180            0
  85  Cabinet         0.332          2.009          -0.607         0              180            0
  86  Cabinet         2.349          0.402          -0.296         0              180            0
  87  Cabinet         -0.284         2.009          -0.607         0              180            0
  88  Faucet          0.061          0.906          -0.903         0              0              0
  89  Drawer          2.837          0.792          0.995          0              0              0
  90  Drawer          1.175          0.792          0.995          0              0              0
  91  Cabinet         1.723          0.402          -0.296         0              180            0
  92  StoveKnob       0.588          1.093          1.557          287.970        0              0
  93  StoveKnob       0.188          1.093          1.557          287.970        0              0
  94  StoveKnob       0.749          1.093          1.557          287.970        0              0
  95  StoveKnob       0.338          1.093          1.557          287.970        0              0
  96  Toaster         1.934          0.900          -0.717         0              0              0
  97  LightSwitch     -1.662         1.427          1.649          0              180            0
  98  GarbageCan      -1.965         -0.029         1.358          0              270            0
  99  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 100  Fridge          3.043          0.0            -0.709         0              0              0
 101  Window          -2.183         1.501          -0.014         90             270            0
 102  SinkBasin       0.043          0.755          -0.651         0              0              0
 103  Microwave       0.531          1.675          1.437          0              180            0
 104  DiningTable     -0.836         8.404          -1.258         0              0              0
 105  Chair           -1.611         0.002          -1.185         0              45             0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn right, walk to the window, then turn left and walk till you hit the table.  | STEP 2: Pick up the the glass and the utensils from the table. | STEP 3: Turn around, walk forward one step, turn right, and walk forward until the sink is directly to your right. | STEP 4: Place the utensils and glass in the sink, rinse them off, and pick them up again. | STEP 5: Turn around, walk to the window,. then turn left and walk to the table.  | STEP 6: Place the clean utensils and glass on the table. | END