Task: pick up the plate and wash 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           1.25           0.900          1.25           0              270            0
   1  Ladle           -1.045         1.168          0.485          0              0              0              76
   2  DishSponge      2.487          0.551          0.090          0              180            0              86
   3  DishSponge      -0.252         0.695          0.263          0              180            0              79
   4  Pot             -1.289         0.957          -0.756         0              180            0              55
   5  Spatula         -1.080         0.907          -0.170         358.832        180            0              73
   6  Spatula         1.644          0.926          -1.844         0              0              0              80
   7  Fork            -0.053         0.696          0.181          0              180            0              79
   8  Fork            -0.849         0.914          0.188          0              0              0              73
   9  Spoon           -1.330         0.914          -0.048         0              0              0              73
  10  Spoon           -0.623         0.693          -1.891         0              0              0              50
  11  Egg             -0.822         1.165          0.485          0              0              0              76
  12  Egg             1.845          0.096          0.195          0              0              0              83
  13  Plate           1.194          0.909          -1.844         0              0              0              80
  14  Tomato          1.194          0.960          -2.183         0              0              0              80
  15  Tomato          1.963          0.112          0.166          0              0              0              83
  16  SaltShaker      -0.612         0.108          0.089          0              180            0              75
  17  PepperShaker    -0.319         0.693          0.139          0              180            0              79
  18  PepperShaker    -0.691         0.690          -2.023         0              0              0              50
  19  Bread           -0.152         1.213          0.573          0              0              0              76
  20  Lettuce         -0.420         0.990          0.135          0              0              0              73
  21  Lettuce         1.891          1.175          -0.737         0              270            0              87
  22  Pan             -1.056         0.956          -1.127         0              0              0              77
  23  Knife           0.071          1.155          0.662          0              0              0              76
  24  Bowl            -0.205         0.910          0.083          0              0              0              73
  25  Fork            -0.634         0.914          0.241          0              90             0              73
  26  Cup             0.101          0.750          -1.938         0              0              0              90
  27  Ladle           -1.202         1.699          -0.043         0              90             0              64
  28  Apple           2.055          0.865          -0.551         0              270            0              87
  29  Kettle          -1.047         0.953          -2.094         0              0              0              80
  30  Vase            -0.658         0.114          -1.918         0              0              0              65
  31  Potato          1.846          1.045          -1.402         0              270            0              85
  32  Pot             -1.075         0.912          -1.469         0              0              0              80
  33  Bread           -1.149         0.984          -0.190         0              0              1.872          73
  34  Plate           -1.313         1.660          0.231          0              0              0              64
  35  Spatula         -0.993         0.926          -1.806         0              0              0              80
  36  PaperTowelRoll  2.798          0.656          -0.013         0              180            0              86
  37  Vase            -0.598         1.137          0.618          0              0              0              76
  38  Egg             2.055          0.850          -0.458         0              270            0              87
  39  SoapBottle      2.798          0.879          0.141          0              180            0              84
  40  SaltShaker      1.836          1.655          -1.236         0              0              0              57
  41  Lettuce         1.891          0.893          -0.458         0              270            0              87
  42  PepperShaker    2.900          0.876          0.141          0              180            0              84
  43  ButterKnife     -0.777         0.911          -1.760         0              0              0              80
  44  DishSponge      -0.691         0.693          -1.802         0              0              0              50
  45  Vase            2.979          0.539          0.128          0              0              0              86
  46  Spoon           -1.278         0.914          0.135          0              0              0              73
  47  Tomato          1.836          1.477          -0.458         0              270            0              87
  48  Mug             0.501          0.955          -1.900         0              0              0              96
  49  Statue          2.694          0.559          0.142          0              180            0              86
  50  Drawer          -0.819         0.75           -1.690         0              0              0
  51  Cabinet         -1.149         2.264          -0.838         0              90             0
  52  StoveBurner     -1.056         0.949          -0.671         0              180            0
  53  Cabinet         1.738          2.019          -2.000         0              0              0
  54  Cabinet         1.389          0.469          -1.059         0              0              0
  55  StoveBurner     -1.289         0.949          -0.755         0              180            0
  56  Faucet          -0.157         1.052          -2.196         0              270            0
  57  Cabinet         1.75           2.019          -1.029         0              0              0
  58  Cabinet         1.75           2.019          -1.399         0              0              0
  59  Cabinet         1.179          2.019          -2.0           0              0              0
  60  Cabinet         0.199          2.019          -2.0           0              0              0
  61  Cabinet         -1.100         2.019          -2.0           0              0              0
  62  Cabinet         -1.149         2.019          -1.979         0              0              0
  63  Cabinet         -1.149         2.019          -0.770         0              0              0
  64  Cabinet         -1.149         2.019          0.380          0              0              0
  65  Cabinet         -0.819         0.469          -1.689         0              0              0
  66  Cabinet         -0.839         0.469          -1.664         0              0              0
  67  Cabinet         -0.839         0.469          -0.049         0              0              0
  68  Cabinet         -0.414         0.370          -0.009         0              0              0
  69  Sink            -0.118         0.875          -2.009         0              0              0
  70  StoveBurner     -1.289         0.949          -1.019         0              0              0
  71  Cabinet         0.119          2.264          -2.0           0              0              0
  72  Cabinet         -0.459         2.264          -2.0           0              0              0
  73  CounterTop      -0.665         0.949          0.188          0              0              0
  74  Drawer          -0.449         0.75           -0.010         0              180            0
  75  Cabinet         -0.450         0.469          -0.009         0              0              0
  76  CounterTop      -0.630         1.167          0.573          0              0              0
  77  StoveBurner     -1.056         0.949          -1.126         0              0              0
  78  Cabinet         1.376          0.460          -1.685         0              0              0
  79  Drawer          -0.070         0.75           -0.009         0              180            0
  80  CounterTop      1.159          0.946          -2.013         0              0              0
  81  Cabinet         -1.150         2.264          -1.418         0              90             0
  82  HousePlant      -1.246         1.108          0.606          0              0              0
  83  GarbageCan      1.923          -0.010         0.137          0              0              0
  84  Shelf           2.759          0.880          0.144          0              0              0
  85  Microwave       1.827          0.900          -1.354         0              270            0
  86  Shelf           2.759          0.552          0.145          0              0              0
  87  Fridge          1.975          0.0            -0.537         0              0              0
  88  LightSwitch     0.404          1.297          2.0            0              180            0
  89  Shelf           2.760          0.172          0.145          0              0              0
  90  SinkBasin       -0.129         0.752          -2.007         0              0              0
  91  StoveKnob       -0.873         0.903          -0.827         45             90             0
  92  StoveKnob       -0.873         0.903          -0.676         45             90             0
  93  StoveKnob       -0.873         0.903          -0.966         45             90             0
  94  StoveKnob       -0.873         0.903          -1.123         45             90             0
  95  Toaster         0.840          0.900          -2.057         0              0              0
  96  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  97  ShelvingUnit    2.760          0.006          0.144          0              0              0
  98  Stool           -0.826         0.010          0.908          0              347.513        0
  99  Stool           -0.132         0.010          0.883          0              71.555         0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: turn around and cross the kitchen to the counter with the toaster on it | STEP 2: pick up the dirty plate sitting on the counter | STEP 3: turn right and go down the counter to the sink | STEP 4: place the plate in the sink and wash it and then pick it back up | STEP 5: turn around and go to the refrigerator | STEP 6: place plate in the fridge and close the door | END