Task: wash the plate and put it away

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           0.899          2.75           0              0              0
   1  Pan             -0.488         0.924          4.944          0              0              0              60
   2  Potato          -2.635         1.579          1.633          0              0              0              105
   3  Potato          -3.613         0.956          5.106          0              90             0              75
   4  ButterKnife     -3.852         0.923          5.182          0              90             0              75
   5  WineBottle      -3.525         1.454          1.605          0              0              0              49
   6  WineBottle      -3.201         0.080          5.193          0              90             0              53
   7  Fork            -2.026         0.924          2.026          0              0              0              57
   8  Fork            -4.517         0.924          2.965          0              90             0              75
   9  Spoon           -1.860         0.924          2.026          0              0              0              57
  10  Spatula         -1.860         0.938          1.8            0              0              0              57
  11  Cup             -0.181         0.923          5.603          0              0              0              60
  12  Egg             -2.109         0.959          1.724          0              0              0              57
  13  Egg             -0.411         0.960          5.273          0              0              0              60
  14  Knife           -4.031         0.953          1.724          0              0              0              75
  15  Bowl            -0.181         0.922          4.615          0              0              0              60
  16  Bowl            -0.342         1.332          3.602          0              270            0              108
  17  SaltShaker      -4.184         0.919          4.900          0              90             0              75
  18  PepperShaker    -4.201         0.081          2.676          0              0              0              67
  19  PepperShaker    -4.132         0.750          2.413          0              0              0              55
  20  Lettuce         -3.748         0.164          6.333          0              270            0              101
  21  Lettuce         -1.860         1.018          1.648          0              0              0              57
  22  Bread           -1.610         1.003          1.648          0              0              0              57
  23  Mug             -0.301         1.575          3.228          0              270            0              108
  24  Mug             -0.383         1.330          3.850          0              270            0              108
  25  Egg             -0.258         0.960          5.273          0              0              0              60
  26  Apple           -0.454         1.124          3.974          0              270            0              108
  27  Knife           -1.693         0.953          1.724          0              0              0              57
  28  Potato          -4.411         0.956          5.418          0              90             0              75
  29  Fork            -0.411         0.925          4.615          0              0              0              60
  30  Bowl            -0.301         1.577          3.470          0              270            0              108
  31  Plate           -3.613         0.924          5.259          0              90             0              75
  32  Lettuce         -0.454         1.165          3.355          0              270            0              108
  33  Bread           -0.401         1.150          3.850          0              270            0              108
  34  Tomato          -0.258         0.982          4.944          0              0              0              60
  35  WineBottle      -4.031         0.924          1.648          0              0              0              75
  36  Spatula         -1.610         0.938          1.951          0              0              0              57
  37  PaperTowelRoll  -0.104         1.029          4.944          0              0              0              60
  38  Cup             -0.237         2.134          5.852          0              180            0              59
  39  Pencil          -4.094         0.754          2.324          0              0              0              55
  40  Pan             -2.469         0.930          1.712          0              270            0              90
  41  Pot             -0.396         0.912          5.933          0              0              0              60
  42  SaltShaker      -4.154         0.741          4.436          0              90             0              82
  43  SoapBottle      -4.381         0.923          2.300          0              0              0              75
  44  PepperShaker    -4.093         0.080          3.084          0              0              0              88
  45  ButterKnife     -1.860         0.923          2.026          0              0              0              57
  46  DishSponge      -2.109         0.923          1.951          0              0              0              57
  47  Spoon           -0.503         0.747          5.344          0              270            0              54
  48  Mug             -3.748         1.453          5.401          0              90             0              79
  49  Cabinet         -3.203         1.931          1.777          0              0              0
  50  Cabinet         -3.187         0.390          2.089          0              0              0
  51  Cabinet         -0.637         0.387          6.882          0              180            0
  52  Drawer          -3.797         0.781          1.961          0              0              0
  53  Cabinet         -3.036         0.387          5.029          0              90             0
  54  Drawer          -0.509         0.775          5.268          0              270            0
  55  Drawer          -4.125         0.798          2.499          0              0              0
  56  Cabinet         -0.331         2.249          4.308          0              180            0
  57  CounterTop      -1.872         0.958          1.799          0              0              0
  58  StoveBurner     -2.924         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          6.806          0              180            0
  60  CounterTop      -0.345         0.960          5.603          0              0              0
  61  Cabinet         -3.039         1.935          5.321          0              90             0
  62  Cabinet         -3.922         0.397          2.088          0              0              0
  63  StoveBurner     -2.467         0.924          2.012          0              0              0
  64  Cabinet         -0.331         2.249          5.505          0              180            0
  65  Drawer          -0.509         0.775          4.617          0              270            0
  66  Drawer          -3.509         0.777          5.157          0              180            0
  67  Cabinet         -3.961         0.388          2.878          0              0              0
  68  Cabinet         -3.961         0.388          4.342          0              0              0
  69  Cabinet         -0.637         0.387          5.582          0              180            0
  70  Cabinet         -0.637         0.388          4.299          0              180            0
  71  Cabinet         -0.637         0.388          5.599          0              180            0
  72  StoveBurner     -2.924         0.924          1.712          0              180            0
  73  Drawer          -1.859         0.775          1.961          0              0              0
  74  Cabinet         -0.331         2.249          5.609          0              180            0
  75  CounterTop      -4.260         0.958          4.943          0              90             0
  76  Cabinet         -4.284         1.931          2.226          0              0              0
  77  Cabinet         -0.331         2.249          3.010          0              180            0
  78  Drawer          -3.801         0.777          5.157          0              180            0
  79  Cabinet         -4.112         1.935          5.321          0              90             0
  80  Cabinet         -3.968         0.388          3.662          0              0              0
  81  Drawer          -3.418         0.777          1.961          0              0              0
  82  Drawer          -4.090         0.777          4.661          0              90             0
  83  Faucet          -4.441         0.909          3.288          270            0              0
  84  Cabinet         -0.331         2.249          4.207          0              180            0
  85  Cabinet         -3.961         0.388          2.119          0              0              0
  86  Drawer          -0.509         0.775          5.920          0              270            0
  87  Drawer          -3.193         0.777          5.157          0              180            0
  88  Cabinet         -3.968         0.388          2.894          0              0              0
  89  Cabinet         -3.667         0.387          5.029          0              90             0
  90  StoveBurner     -2.469         0.924          1.712          0              270            0
  91  Cabinet         -1.539         0.388          2.090          0              0              0
  92  Sink            -4.190         0.921          3.279          0              0              0
  93  Cabinet         -3.641         0.387          5.029          0              90             0
  94  Cabinet         -1.583         1.931          1.777          0              0              0
  95  Drawer          -0.509         0.775          6.568          0              270            0
  96  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  97  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  98  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  99  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 101  GarbageCan      -3.711         -0.030         6.376          0              270            0
 102  Toaster         -3.578         0.912          1.763          0              0              0
 103  Curtains        -4.522         2.252          3.391          90             90             0
 104  Window          -4.868         1.629          3.309          90             270            0
 105  Microwave       -2.693         1.430          1.689          0              0              0
 106  LightSwitch     -1.588         1.169          1.506          0              0              0
 107  SinkBasin       -4.196         0.780          3.276          0              270            0
 108  Fridge          -0.324         -0.001         3.602          0              0              0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: go to the counter with the knife sitting on it | STEP 2: pick up the plate sitting on the counter | STEP 3: take the plate to the sink and set it in | STEP 4: fill the sink with water and clean the plate | STEP 5: turn to the cabinets on the left  | STEP 6: open the cabinet and place the plate inside and close the door  | END