Task: Put a clean plate in the cabinet.

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          0.899          0.75           0              0              0
   1  Pan             -2.924         0.930          2.012          0              0              0              57
   2  Potato          -3.255         0.956          5.489          0              90             0              74
   3  Potato          -2.530         1.579          1.633          0              0              0              104
   4  DishSponge      -4.242         0.923          2.533          0              0              0              74
   5  ButterKnife     -0.181         0.925          4.944          0              0              0              59
   6  Fork            -1.777         0.924          2.026          0              180            0              56
   7  Fork            -0.334         0.925          5.603          0              0              0              59
   8  Spoon           -1.860         0.924          1.648          0              0              0              56
   9  Spatula         -4.102         0.938          2.300          0              0              0              74
  10  Spatula         -1.860         0.938          1.951          0              0              0              56
  11  Cup             -4.184         0.922          4.640          0              90             0              74
  12  Plate           -0.342         1.581          3.470          0              270            0              107
  13  Plate           -3.494         0.924          5.259          0              90             0              74
  14  Plate           -0.301         1.336          3.231          0              270            0              107
  15  Knife           -0.258         0.954          5.273          0              0              0              59
  16  SoapBottle      -0.286         2.134          4.697          0              90             0              55
  17  Bowl            -0.301         1.332          3.850          0              270            0              107
  18  Bowl            -3.193         1.456          5.476          0              90             0              60
  19  Lettuce         -0.242         1.165          3.479          0              90             0              107
  20  Bread           -0.411         1.004          4.944          0              0              0              59
  21  Mug             -0.218         1.330          3.602          0              270            0              107
  22  Apple           -2.740         1.599          1.633          0              0              0              104
  23  Apple           -0.259         1.634          3.168          0              270            0              107
  24  Egg             -1.693         0.959          1.951          0              0              0              56
  25  Apple           -2.583         1.599          1.731          0              0              0              104
  26  Knife           -3.686         0.953          1.951          0              0              0              74
  27  Potato          -3.748         0.102          6.375          0              270            0              100
  28  Fork            -0.181         0.925          5.932          0              0              0              59
  29  Bowl            -0.301         1.682          3.975          0              270            0              107
  30  Plate           -3.807         0.080          5.155          0              90             0              88
  31  Lettuce         -0.181         1.020          5.603          0              0              0              59
  32  Bread           -0.181         1.004          5.273          0              0              0              59
  33  Tomato          -0.454         1.127          3.231          0              270            0              107
  34  WineBottle      -2.109         0.924          1.573          0              0              0              56
  35  Spatula         -4.478         0.938          3.548          0              90             0              74
  36  PaperTowelRoll  -3.675         0.172          6.498          0              270            0              100
  37  Cup             -0.454         1.069          3.479          0              270            0              107
  38  Pencil          -1.610         0.923          1.724          0              0              0              72
  39  Pan             -2.469         0.930          1.712          0              270            0              89
  40  Pot             -2.924         0.930          1.712          0              180            0              71
  41  SaltShaker      -3.830         0.743          5.162          0              180            0              77
  42  SoapBottle      -2.109         0.923          1.875          0              0              0              56
  43  PepperShaker    -3.520         1.456          5.548          0              90             0              60
  44  ButterKnife     -4.411         0.923          4.381          0              270            0              74
  45  DishSponge      -3.639         0.068          6.416          0              270            0              100
  46  Spoon           -1.693         0.924          1.724          0              0              0              56
  47  Mug             -3.251         0.077          1.966          0              0              0              49
  48  Cabinet         -3.203         1.931          1.777          0              0              0
  49  Cabinet         -3.187         0.390          2.089          0              0              0
  50  Cabinet         -0.637         0.387          6.882          0              180            0
  51  Drawer          -3.797         0.781          1.961          0              0              0
  52  Cabinet         -3.036         0.387          5.029          0              90             0
  53  Drawer          -0.509         0.775          5.268          0              270            0
  54  Drawer          -4.125         0.798          2.499          0              0              0
  55  Cabinet         -0.331         2.249          4.308          0              180            0
  56  CounterTop      -1.872         0.958          1.799          0              0              0
  57  StoveBurner     -2.924         0.924          2.012          0              0              0
  58  Cabinet         -0.331         2.249          6.806          0              180            0
  59  CounterTop      -0.345         0.960          5.603          0              0              0
  60  Cabinet         -3.039         1.935          5.321          0              90             0
  61  Cabinet         -3.922         0.397          2.088          0              0              0
  62  StoveBurner     -2.467         0.924          2.012          0              0              0
  63  Cabinet         -0.331         2.249          5.505          0              180            0
  64  Drawer          -0.509         0.775          4.617          0              270            0
  65  Drawer          -3.509         0.777          5.157          0              180            0
  66  Cabinet         -3.961         0.388          2.878          0              0              0
  67  Cabinet         -3.961         0.388          4.342          0              0              0
  68  Cabinet         -0.637         0.387          5.582          0              180            0
  69  Cabinet         -0.637         0.388          4.299          0              180            0
  70  Cabinet         -0.637         0.388          5.599          0              180            0
  71  StoveBurner     -2.924         0.924          1.712          0              180            0
  72  Drawer          -1.859         0.775          1.961          0              0              0
  73  Cabinet         -0.331         2.249          5.609          0              180            0
  74  CounterTop      -4.260         0.958          4.943          0              90             0
  75  Cabinet         -4.284         1.931          2.226          0              0              0
  76  Cabinet         -0.331         2.249          3.010          0              180            0
  77  Drawer          -3.801         0.777          5.157          0              180            0
  78  Cabinet         -4.112         1.935          5.321          0              90             0
  79  Cabinet         -3.968         0.388          3.662          0              0              0
  80  Drawer          -3.418         0.777          1.961          0              0              0
  81  Drawer          -4.090         0.777          4.661          0              90             0
  82  Faucet          -4.441         0.909          3.288          270            0              0
  83  Cabinet         -0.331         2.249          4.207          0              180            0
  84  Cabinet         -3.961         0.388          2.119          0              0              0
  85  Drawer          -0.509         0.775          5.920          0              270            0
  86  Drawer          -3.193         0.777          5.157          0              180            0
  87  Cabinet         -3.968         0.388          2.894          0              0              0
  88  Cabinet         -3.667         0.387          5.029          0              90             0
  89  StoveBurner     -2.469         0.924          1.712          0              270            0
  90  Cabinet         -1.539         0.388          2.090          0              0              0
  91  Sink            -4.190         0.921          3.279          0              0              0
  92  Cabinet         -3.641         0.387          5.029          0              90             0
  93  Cabinet         -1.583         1.931          1.777          0              0              0
  94  Drawer          -0.509         0.775          6.568          0              270            0
  95  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  96  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  98  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  99  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 100  GarbageCan      -3.711         -0.030         6.376          0              270            0
 101  Toaster         -3.578         0.912          1.763          0              0              0
 102  Curtains        -4.522         2.252          3.391          90             90             0
 103  Window          -4.868         1.629          3.309          90             270            0
 104  Microwave       -2.693         1.430          1.689          0              0              0
 105  LightSwitch     -1.588         1.169          1.506          0              0              0
 106  SinkBasin       -4.196         0.780          3.276          0              270            0
 107  Fridge          -0.324         -0.001         3.602          0              0              0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Go forward to the fridge, then turn left and go straight to the counter, then turn right and go to the counter ahead. | STEP 2: Pick up the plate from the counter. | STEP 3: Turn around and move forward, then turn right to face the sink. | STEP 4: Wash the plate in the sink. | STEP 5: Turn left and look down to the cabinet under the counter, adjacent to the stove. | STEP 6: Open the cabinet, put the plate inside, then close it. | END