Task: Place a black plate in the sink.

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          0.0            0              270            0
   1  Potato          1.578          0.946          -1.437         0              0              0              74
   2  DishSponge      -1.576         0.119          -0.841         0              0              0              59
   3  ButterKnife     -2.436         0.878          3.221          0              90             0              56
   4  ButterKnife     -1.627         0.912          -1.591         0              0              0              54
   5  Kettle          -1.738         0.913          -0.614         0              0              0              54
   6  Kettle          0.974          0.957          -1.419         0              180            0              72
   7  WineBottle      -2.881         0.875          3.559          0              0              0              56
   8  Spatula         -2.912         0.889          3.685          0              315            0              56
   9  Spatula         -1.649         0.734          -0.788         0              270            0              69
  10  Spoon           -1.738         0.913          0.037          0              0              0              54
  11  Egg             -0.034         0.828          2.308          0              180            0              79
  12  Cup             0.079          0.387          2.025          0              180            0              79
  13  Plate           -2.793         0.878          2.878          0              225            0              56
  14  Plate           -0.377         0.393          2.025          0              180            0              79
  15  Plate           3.741          0.557          1.553          0              270            0              77
  16  Knife           -3.165         0.900          3.147          0              270            0              56
  17  SoapBottle      1.651          0.910          -1.346         0              180            0              74
  18  Bowl            -2.659         0.872          3.559          0              0              0              56
  19  SaltShaker      -2.584         0.874          3.728          0              0              0              56
  20  SaltShaker      1.595          0.716          -1.476         0              0              0              70
  21  Mug             -1.112         0.958          -1.479         0              0              0              91
  22  Book            -0.943         1.651          -1.712         0              0              0              66
  23  Fork            -3.122         0.875          2.968          0              225            0              56
  24  Tomato          -0.149         0.850          2.023          0              180            0              79
  25  Egg             -0.149         0.414          2.083          0              180            0              79
  26  Kettle          1.328          0.957          -1.688         0              180            0              57
  27  Vase            3.671          0.168          1.841          0              0              0              77
  28  Cup             -0.149         0.801          2.194          0              180            0              79
  29  WineBottle      -2.881         0.879          2.715          0              0              0              56
  30  Plate           -2.072         0.916          -0.939         0              0              0              54
  31  Spatula         -1.738         0.927          0.363          0              0              0              54
  32  Potato          -0.263         1.608          2.160          0              180            0              79
  33  Pot             -1.602         0.901          -0.172         0              308.119        0              54
  34  Knife           -1.583         0.741          -1.073         0              90             0              69
  35  SaltShaker      1.724          0.906          -1.255         0              0              0              74
  36  PepperShaker    1.614          0.906          -1.255         0              0              0              74
  37  Lettuce         -1.654         0.965          -1.051         0              117.902        0              54
  38  ButterKnife     -2.072         0.912          0.363          0              0              0              54
  39  Bread           -1.601         0.980          -0.837         0              334.888        0              54
  40  Vase            3.689          0.553          1.345          0              270            0              77
  41  DishSponge      -2.644         0.878          2.997          0              135            0              56
  42  Apple           -3.002         0.929          3.355          0              135            0              56
  43  Pan             0.972          0.959          -1.426         0              0              0              72
  44  Spoon           1.730          0.720          -1.377         0              270            0              70
  45  SoapBottle      -1.557         1.657          -1.747         0              0              0              67
  46  Mug             1.597          1.650          -1.709         0              0              0              64
  47  Statue          3.676          0.168          1.410          0              334.521        0              77
  48  Statue          3.668          0.540          1.800          0              0              0              77
  49  Bowl            -2.321         0.872          3.221          0              270            0              56
  50  Cabinet         -2.171         2.009          -1.538         0              0              0
  51  Sink            0.024          0.771          -1.708         0              270            0
  52  Cabinet         1.444          2.259          -1.542         0              0              0
  53  StoveBurner     0.974          0.957          -1.688         0              180            0
  54  CounterTop      -1.866         0.947          -0.614         0              0              0
  55  Cabinet         -2.217         0.373          -1.874         0              0              0
  56  DiningTable     -2.663         0.002          3.208          0              0              0
  57  StoveBurner     1.328          0.957          -1.688         0              180            0
  58  StoveBurner     1.328          0.957          -1.420         0              180            0
  59  Cabinet         -1.478         0.373          -1.235         0              0              0
  60  Cabinet         1.775          0.372          -1.242         0              0              0
  61  Cabinet         0.774          0.372          -1.242         0              0              0
  62  Cabinet         0.375          0.372          -1.242         0              0              0
  63  Cabinet         -0.574         0.372          -1.238         0              0              0
  64  Cabinet         1.775          2.009          -1.542         0              0              0
  65  Cabinet         0.524          2.009          -1.542         0              0              0
  66  Cabinet         -0.714         2.009          -1.542         0              0              0
  67  Cabinet         -1.671         2.009          -1.538         0              0              0
  68  Cabinet         0.854          2.259          -1.542         0              0              0
  69  Drawer          -1.636         0.683          -0.930         0              0              0
  70  Drawer          1.650          0.682          -1.396         0              0              0
  71  Drawer          0.600          0.682          -1.396         0              0              0
  72  StoveBurner     0.974          0.957          -1.419         0              180            0
  73  Drawer          -2.062         0.683          -1.579         0              0              0
  74  CounterTop      1.645          0.945          -1.527         0              0              0
  75  Shelf           3.725          0.880          1.671          0              90             0
  76  LightSwitch     2.830          1.266          -0.748         0              0              0
  77  Shelf           3.726          0.552          1.671          0              90             0
  78  Microwave       1.150          1.655          -1.614         0              0              0
  79  Fridge          -0.035         0.0            2.177          0              180            0
  80  Window          -0.115         1.802          -1.896         90             0              0
  81  Window          -4.009         1.799          0.310          90             90             0
  82  Shelf           3.726          0.172          1.671          0              90             0
  83  SinkBasin       -0.330         0.686          -1.581         0              270            0
  84  GarbageCan      -0.870         -0.001         2.136          0              90             0
  85  StoveKnob       1.089          0.913          -1.243         45             0              0
  86  StoveKnob       1.208          0.913          -1.243         45             0              0
  87  StoveKnob       1.340          0.913          -1.243         45             0              0
  88  StoveKnob       0.961          0.913          -1.243         45             0              0
  89  Toaster         1.637          0.900          -1.673         0              0              0
  90  Chair           -3.505         0.002          3.290          0              105.736        0
  91  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  92  HousePlant      -2.663         0.835          3.209          0              0              0
  93  Faucet          -0.187         0.922          -1.75          0              311.166        0
  94  ShelvingUnit    3.726          0.006          1.671          0              90             0
  95  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  96  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  97  Chair           -2.934         0.002          2.437          0              28.531         0
  98  Chair           -1.698         0.002          3.235          0              245.204        0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Walk forward to the counter and turn right, walk to counter with the black pot, turn right and walk four steps, turn right walking seven steps, turn left walking eight steps, turn right and stop in front of the counter. | STEP 2: Pick up the black plate on the counter. | STEP 3: Turn around and take one step, turn right and take eight steps, take a right and take 16 steps, turn right and walk toward the stove then stop and look up at the microwave. | STEP 4: Open the door to the microwave, put the plate in, turn on the microwave for a few seconds, open the door and remove the plate, close the microwave door. | STEP 5: Bring the plate down and turn right for five steps, turn left to face the sink. | STEP 6: Put the plate in the sink over the drain. | END