Task: get the dirty plate from the wooden shelves, wash it in the sink, put the clean plate in the microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          1.5            0              270            0
   1  Pan             1.328          0.957          -1.688         0              180            0              53
   2  Potato          -2.321         0.911          3.221          0              270            0              52
   3  Book            -1.961         0.908          -0.614         0              0              0              50
   4  DishSponge      3.716          0.880          1.861          0              270            0              73
   5  WineBottle      -2.152         0.879          2.999          0              270            0              52
   6  Fork            0.638          0.719          -1.410         0              0              0              67
   7  Spoon           -2.898         0.875          2.983          0              225            0              52
   8  Spoon           -2.015         0.719          -1.510         0              0              0              69
   9  Cup             -2.143         0.873          3.422          0              225            0              52
  10  Cup             1.651          0.908          -1.255         0              0              0              70
  11  Knife           -2.577         0.900          2.825          0              225            0              52
  12  Knife           -2.420         0.900          2.983          0              135            0              52
  13  Tomato          0.079          0.850          2.251          0              180            0              75
  14  Bread           -0.263         0.886          2.137          0              180            0              75
  15  Mug             -2.673         0.869          2.997          0              225            0              52
  16  Mug             -0.035         1.567          2.100          0              180            0              75
  17  Apple           -0.149         1.627          1.981          0              180            0              75
  18  Book            -1.649         0.714          -0.788         0              90             0              65
  19  Fork            -2.487         0.875          3.154          0              135            0              52
  20  Tomato          -2.353         0.925          2.811          0              135            0              52
  21  Egg             0.307          0.414          2.083          0              180            0              75
  22  Kettle          -0.833         0.900          -1.757         0              0              0              50
  23  Vase            0.591          0.117          -1.445         0              0              0              57
  24  Cup             0.700          1.651          -1.785         0              0              0              61
  25  WineBottle      -0.818         0.193          2.136          0              90             0              80
  26  Plate           3.637          0.557          1.449          0              270            0              73
  27  Spatula         -1.961         0.927          -1.591         0              0              0              50
  28  Potato          0.307          1.180          2.246          0              180            0              75
  29  Pot             0.974          0.957          -1.419         0              180            0              68
  30  Knife           0.663          0.934          -1.267         0              0              0              50
  31  SaltShaker      0.665          1.649          -1.602         0              0              0              61
  32  PepperShaker    0.036          0.110          -1.342         0              0              0              58
  33  Lettuce         -2.183         0.977          0.363          0              0              0              50
  34  ButterKnife     -2.733         0.878          3.559          0              0              0              52
  35  Bread           -3.069         0.958          3.527          0              135            0              52
  36  Vase            -1.444         1.658          -1.710         0              0              0              63
  37  DishSponge      1.029          2.156          -1.636         0              0              0              64
  38  Apple           -2.072         0.967          -1.265         0              0              0              50
  39  Pan             1.328          0.957          -1.420         0              180            0              54
  40  Spoon           -2.807         0.879          2.884          0              0              0              52
  41  SoapBottle      -1.516         0.912          -1.265         0              0              0              50
  42  Mug             -2.964         0.869          2.811          0              225            0              52
  43  Statue          -2.248         0.881          3.527          0              225            0              52
  44  Statue          3.668          0.540          1.800          0              0              0              73
  45  Bowl            -0.035         1.141          2.167          0              180            0              75
  46  Cabinet         -2.171         2.009          -1.538         0              0              0
  47  Sink            0.024          0.771          -1.708         0              270            0
  48  Cabinet         1.444          2.259          -1.542         0              0              0
  49  StoveBurner     0.974          0.957          -1.688         0              180            0
  50  CounterTop      -1.866         0.947          -0.614         0              0              0
  51  Cabinet         -2.217         0.373          -1.874         0              0              0
  52  DiningTable     -2.663         0.002          3.208          0              0              0
  53  StoveBurner     1.328          0.957          -1.688         0              180            0
  54  StoveBurner     1.328          0.957          -1.420         0              180            0
  55  Cabinet         -1.478         0.373          -1.235         0              0              0
  56  Cabinet         1.775          0.372          -1.242         0              0              0
  57  Cabinet         0.774          0.372          -1.242         0              0              0
  58  Cabinet         0.375          0.372          -1.242         0              0              0
  59  Cabinet         -0.574         0.372          -1.238         0              0              0
  60  Cabinet         1.775          2.009          -1.542         0              0              0
  61  Cabinet         0.524          2.009          -1.542         0              0              0
  62  Cabinet         -0.714         2.009          -1.542         0              0              0
  63  Cabinet         -1.671         2.009          -1.538         0              0              0
  64  Cabinet         0.854          2.259          -1.542         0              0              0
  65  Drawer          -1.636         0.683          -0.930         0              0              0
  66  Drawer          1.650          0.682          -1.396         0              0              0
  67  Drawer          0.600          0.682          -1.396         0              0              0
  68  StoveBurner     0.974          0.957          -1.419         0              180            0
  69  Drawer          -2.062         0.683          -1.579         0              0              0
  70  CounterTop      1.645          0.945          -1.527         0              0              0
  71  Shelf           3.725          0.880          1.671          0              90             0
  72  LightSwitch     2.830          1.266          -0.748         0              0              0
  73  Shelf           3.726          0.552          1.671          0              90             0
  74  Microwave       1.150          1.655          -1.614         0              0              0
  75  Fridge          -0.035         0.0            2.177          0              180            0
  76  Window          -0.115         1.802          -1.896         90             0              0
  77  Window          -4.009         1.799          0.310          90             90             0
  78  Shelf           3.726          0.172          1.671          0              90             0
  79  SinkBasin       -0.330         0.686          -1.581         0              270            0
  80  GarbageCan      -0.870         -0.001         2.136          0              90             0
  81  StoveKnob       1.089          0.913          -1.243         45             0              0
  82  StoveKnob       1.208          0.913          -1.243         45             0              0
  83  StoveKnob       1.340          0.913          -1.243         45             0              0
  84  StoveKnob       0.961          0.913          -1.243         45             0              0
  85  Toaster         1.637          0.900          -1.673         0              0              0
  86  Chair           -3.505         0.002          3.290          0              105.736        0
  87  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  88  HousePlant      -2.663         0.835          3.209          0              0              0
  89  Faucet          -0.187         0.922          -1.75          0              311.166        0
  90  ShelvingUnit    3.726          0.006          1.671          0              90             0
  91  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  92  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  93  Chair           -2.934         0.002          2.437          0              28.531         0
  94  Chair           -1.698         0.002          3.235          0              245.204        0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: turn left until the fridge is on the left side, walk straight and stop in front of the wooden shelves | STEP 2: pick up the black and white swirled plate | STEP 3: turn right and walk straight, turn left at the fridge, walk straight and stop at the sink | STEP 4: put the plate in the sink basin, wash it with water, take out the now clean grey plate | STEP 5: turn left and walk to the stove and turn right to face the microwave above the stove | STEP 6: open the microwave, put in the plate, close the door | END