Task: Clean a plate and place it 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           -2.5           0.901          -2.75          0              180            0
   1  Pan             -2.449         0.912          -3.952         0              90             0              44
   2  DishSponge      -0.443         0.746          -3.376         0              0              0              72
   3  DishSponge      -2.740         0.716          -0.922         0              0              0              88
   4  Spatula         -0.441         0.761          -2.858         0              270            0              74
   5  Spatula         -2.865         0.731          -0.780         0              90             0              88
   6  Fork            -1.262         0.914          -3.878         0              0              0              44
   7  Egg             -0.096         1.048          -0.950         0              270            0              81
   8  Plate           -3.182         0.639          -2.125         0              90             0              85
   9  Plate           -0.380         1.295          -3.702         0              45             0              64
  10  Plate           -2.516         1.293          -3.966         0              0              0              57
  11  Knife           -0.500         0.778          -2.913         0              270            0              74
  12  Tomato          -2.581         0.766          -0.433         0              270            0              88
  13  SoapBottle      -3.255         0.716          -0.709         0              225            0              88
  14  SoapBottle      -0.419         0.915          -1.493         0              0              0              71
  15  Bowl            -3.182         1.011          -2.125         0              90             0              85
  16  Bowl            -1.058         0.911          -3.804         0              0              0              44
  17  SaltShaker      -0.853         0.078          -3.635         0              0              0              46
  18  PepperShaker    -0.450         0.077          -2.795         0              0              0              55
  19  PepperShaker    -0.452         0.076          -0.605         0              0              0              48
  20  Lettuce         -2.721         0.804          -0.552         0              135            0              88
  21  Lettuce         -3.346         1.001          -3.655         0              0              0              44
  22  Apple           -2.664         0.759          -0.697         0              135            0              88
  23  Pot             -0.376         0.975          -2.031         0              180            0              73
  24  Egg             -2.928         0.749          -0.780         0              0              0              88
  25  Cup             -3.234         1.399          -1.879         0              90             0              85
  26  Bread           -2.270         0.954          -3.729         0              0              0              44
  27  Fork            -0.338         0.916          -0.542         0              0              0              71
  28  Pan             -0.394         0.973          -2.414         0              0              0              69
  29  Potato          -3.150         0.760          -0.495         0              270            0              88
  30  Lettuce         -2.475         0.804          -0.709         0              135            0              88
  31  Tomato          -3.292         0.766          -0.433         0              270            0              88
  32  Apple           -3.079         1.441          -1.817         0              90             0              85
  33  SoapBottle      -2.865         0.716          -0.922         0              0              0              88
  34  Spatula         -3.082         0.761          -3.078         0              90             0              66
  35  SaltShaker      -2.439         0.713          -0.308         0              270            0              88
  36  Knife           -0.530         0.778          -0.837         0              90             0              70
  37  PepperShaker    -0.095         0.912          -1.555         0              0              0              71
  38  ButterKnife     -3.309         0.913          -2.926         0              0              0              44
  39  Plate           -0.650         0.911          -3.655         0              0              0              44
  40  DishSponge      -3.338         1.291          -2.805         0              0              0              56
  41  Spoon           -3.007         0.714          -0.621         0              270            0              88
  42  Mug             -2.930         0.762          -0.358         0              135            0              84
  43  Bowl            -0.244         0.911          -3.012         0              0              0              44
  44  CounterTop      -1.789         0.949          -3.803         0              0              0
  45  Cabinet         -0.577         0.388          -3.476         0              0              0
  46  Cabinet         -0.605         0.388          -3.511         0              0              0
  47  Cabinet         -2.976         0.388          -3.201         0              0              0
  48  Cabinet         -0.577         0.388          -0.447         0              0              0
  49  Cabinet         -0.577         0.388          -1.725         0              0              0
  50  Cabinet         -0.226         1.803          -1.743         0              0              0
  51  Cabinet         -0.228         1.799          -0.447         0              0              0
  52  Cabinet         -6.010         1.139          -6.019         0              0              0
  53  Cabinet         -3.022         2.098          -2.681         0              0              0
  54  Cabinet         -3.022         2.098          -1.743         0              0              0
  55  Cabinet         -0.577         0.388          -2.736         0              0              0
  56  Cabinet         -3.232         1.803          -3.343         0              0              0
  57  Cabinet         -2.811         1.810          -3.764         0              0              0
  58  Cabinet         -1.233         1.810          -3.764         0              0              0
  59  Cabinet         -1.364         0.388          -3.511         0              0              0
  60  Cabinet         -1.380         0.388          -3.511         0              0              0
  61  Cabinet         -0.226         1.803          -2.725         0              0              0
  62  Cabinet         -0.236         2.098          -1.767         0              0              0
  63  Cabinet         -0.236         2.098          -2.705         0              0              0
  64  Cabinet         -0.193         1.210          -4.239         0              0              0
  65  Cabinet         -2.148         0.388          -3.511         0              0              0
  66  Drawer          -3.104         0.797          -2.968         0              0              0
  67  Drawer          -0.449         0.797          -1.410         0              0              0
  68  Sink            -1.786         0.902          -3.748         0              0              0
  69  StoveBurner     -0.376         0.936          -2.451         0              0              0
  70  Drawer          -0.449         0.797          -0.762         0              0              0
  71  CounterTop      -0.268         0.951          -1.089         0              0              0
  72  Drawer          -0.449         0.797          -3.348         0              0              0
  73  StoveBurner     -0.376         0.936          -2.031         0              180            0
  74  Drawer          -0.449         0.797          -2.968         0              0              0
  75  StoveBurner     -0.165         0.936          -2.030         0              180            0
  76  StoveBurner     -0.165         0.936          -2.450         0              0              0
  77  StoveKnob       -0.568         0.903          -2.313         45             270            0
  78  StoveKnob       -0.568         0.903          -2.470         45             270            0
  79  StoveKnob       -0.568         0.903          -2.166         45             270            0
  80  StoveKnob       -0.568         0.903          -2.003         45             270            0
  81  Microwave       -0.143         0.903          -0.908         0              270            0
  82  LightSwitch     -1.108         1.457          0.338          0              180            0
  83  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  84  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  85  Fridge          -3.188         0.0            -2.184         0              0              0
  86  SinkBasin       -1.786         0.779          -3.747         0              0              0
  87  Toaster         -0.230         0.903          -3.406         0              270            0
  88  DiningTable     -2.800         0.003          -0.505         0              0              0
  89  Chair           -3.044         0.003          -1.223         0              32.194         0
  90  Faucet          -1.791         1.136          -3.913         0              270            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Move a step forward to the counter. | STEP 2: Open the cabinet above, and take out a plate. Shut the doors. | STEP 3: Hold the plate and take a step to the left, to find the sink. | STEP 4: Place the plate in the sink and turn on the water. Turn off the water and pick up the plate. | STEP 5: Carry the plate and turn to the right, then right again. Move forward to the round table. Turn left, and face it on the right. | STEP 6: Place the plate on the left front side of the table. | END