Task: Clean the dirty plate on the sink going to the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          1.25           0              0              0
   1  Book            -0.197         1.110          -0.001         0              0              0              61
   2  Statue          0.079          1.110          -0.506         0              180            0              61
   3  Potato          -1.907         0.078          1.885          0              270            0              92
   4  CreditCard      -2.019         0.908          -2.695         0              0              0              86
   5  CreditCard      -1.438         0.908          -2.483         0              0              0              86
   6  Plate           -1.104         0.133          -2.352         0              0              0              79
   7  Tomato          -1.995         0.837          0.920          0              90             0              94
   8  Tomato          -1.982         1.348          0.925          0              90             0              94
   9  SaltShaker      -1.622         1.654          -2.531         0              0              0              77
  10  SaltShaker      -0.995         0.907          -2.560         0              0              0              86
  11  Bread           -0.473         1.184          -0.253         0              0              0              61
  12  Bread           -0.473         1.184          0.757          0              0              0              61
  13  Lettuce         -0.473         1.191          0.504          0              0              0              61
  14  Apple           -0.277         1.841          -2.610         0              0              0              87
  15  Apple           -0.122         1.841          -2.546         0              0              0              87
  16  Spatula         -1.825         0.809          0.287          0              180            0              58
  17  Spatula         0.950          0.791          -2.377         0              0              0              57
  18  Pot             -2.040         1.507          1.176          0              90             0              94
  19  Pot             -0.036         0.950          -2.576         0              270            0              64
  20  WineBottle      -1.438         0.912          -2.713         0              0              0              86
  21  WineBottle      -1.856         0.912          -0.513         0              0              0              86
  22  DishSponge      -0.955         1.655          -2.676         0              0              0              75
  23  DishSponge      -2.100         0.910          -2.366         0              0              0              86
  24  Bowl            1.098          0.907          -2.330         0              0              0              63
  25  Bowl            -0.473         1.108          0.251          0              0              0              61
  26  Book            0.155          1.1            0.617          0              315            0              61
  27  Glassbottle     -1.935         0.048          2.076          0              270            0              92
  28  Knife           0.217          1.136          -0.506         0              180            0              61
  29  Bread           -2.080         0.612          1.251          0              90             0              94
  30  Fork            0.892          0.646          -2.375         0              0              0              66
  31  Potato          -1.880         0.078          1.981          0              270            0              92
  32  SoapBottle      1.996          0.554          -2.407         0              180            0              91
  33  Kettle          1.582          0.554          -2.614         0              180            0              91
  34  Pan             -0.465         0.950          -2.576         0              90             0              70
  35  Plate           -2.121         0.537          1.003          0              90             0              94
  36  Tomato          -2.100         0.950          -2.036         0              0              0              86
  37  Vase            0.895          1.663          -2.600         0              0              0              83
  38  Egg             -0.328         1.825          -2.449         0              0              0              87
  39  CreditCard      0.949          0.642          -2.459         0              0              0              66
  40  Statue          1.955          0.168          -2.543         0              0              0              93
  41  WineBottle      -0.059         1.112          0.757          0              0              0              61
  42  Pot             0.450          0.144          -2.387         0              0              0              78
  43  Spatula         -1.937         0.926          -2.256         0              0              0              86
  44  PaperTowelRoll  1.482          0.985          -2.509         0              180            0              88
  45  Cup             -0.816         0.134          -2.301         0              0              0              79
  46  Vase            1.789          0.550          -2.666         0              180            0              91
  47  Bowl            -1.765         0.126          0.203          0              90             0              67
  48  SaltShaker      0.324          0.907          -2.253         0              0              0              63
  49  PepperShaker    0.840          0.907          -2.560         0              0              0              63
  50  Lettuce         0.355          1.191          -0.506         0              0              0              61
  51  ButterKnife     -2.019         0.911          -2.256         0              0              0              86
  52  Apple           0.324          0.961          -2.714         0              0              0              63
  53  DishSponge      0.217          1.111          -0.253         0              0              0              61
  54  Spoon           -1.290         0.912          -2.637         0              0              0              86
  55  Mug             -1.731         0.956          -0.168         0              90             0              95
  56  StoveBurner     -0.036         0.915          -2.372         0              0              0
  57  Drawer          0.949          0.832          -2.197         0              0              0
  58  Drawer          -1.560         0.839          0.204          0              90             0
  59  StoveBurner     -0.465         0.915          -2.371         0              180            0
  60  Drawer          -1.560         0.839          -0.197         0              90             0
  61  CounterTop      -0.079         1.147          -0.001         0              0              0
  62  Cabinet         -1.549         0.494          -1.964         0              90             0
  63  CounterTop      0.693          0.946          -2.483         0              0              0
  64  StoveBurner     -0.036         0.915          -2.576         0              0              0
  65  Drawer          0.949          0.393          -2.200         0              0              0
  66  Drawer          0.949          0.708          -2.200         0              0              0
  67  Cabinet         -1.549         0.494          0.379          0              90             0
  68  StoveKnob       -0.022         0.881          -2.187         45             0              0
  69  Drawer          0.949          0.560          -2.201         0              0              0
  70  StoveBurner     -0.465         0.915          -2.575         0              180            0
  71  Window          -2.230         1.429          -1.203         0              0              0
  72  StoveKnob       -0.483         0.881          -2.187         45             0              0
  73  Sink            -1.899         0.964          -1.5           0              90             0
  74  StoveKnob       -0.328         0.881          -2.187         45             0              0
  75  Cabinet         -0.727         2.015          -2.460         0              0              0
  76  Drawer          -1.560         0.655          -0.196         0              90             0
  77  Cabinet         -1.685         2.015          -2.461         0              0              0
  78  Cabinet         0.680          0.494          -2.200         0              0              0
  79  Cabinet         -1.179         0.494          -2.200         0              0              0
  80  Cabinet         -1.849         2.015          0.379          0              90             0
  81  Drawer          0.949          0.221          -2.200         0              0              0
  82  StoveKnob       -0.183         0.881          -2.187         45             0              0
  83  Cabinet         0.719          2.015          -2.460         0              0              0
  84  Drawer          -1.560         0.331          -0.196         0              90             0
  85  Cabinet         0.680          2.015          -2.460         0              0              0
  86  CounterTop      -1.868         0.946          -1.205         0              0              0
  87  Microwave       -0.236         1.689          -2.525         0              0              0
  88  Shelf           1.751          0.880          -2.560         0              0              0
  89  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  90  Toaster         -1.835         0.900          0.134          0              90             0
  91  Shelf           1.750          0.552          -2.559         0              0              0
  92  GarbageCan      -1.935         -0.002         2.029          0              270            0
  93  Shelf           1.750          0.172          -2.559         0              0              0
  94  Fridge          -2.096         0.0            1.088          0              0              0
  95  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  96  SinkBasin       -1.908         0.759          -1.488         0              90             0
  97  LightSwitch     2.329          1.309          -0.159         0              270            0
  98  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  99  Stool           0.702          0.000          -0.514         1.202          65.108         0
 100  Stool           0.743          0.000          0.563          1.227          106.706        0
 101  Faucet          -2.070         1.132          -1.514         0              0              0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn to your left move forward and head to the cabinet beside the stove | STEP 2: Open the cabinet and pick up the dirty plate then close the cabinet | STEP 3: Turn to your right then move forward turn left to the sink | STEP 4: Put the dirty plate in the sink and rinse it | STEP 5: Pick up the clean plate, then turn around to your left head to the shelf | STEP 6: Put the clean plate on the shelf beside the red container | END