Task: Put a clean grey plate with a sponge on it on a round wooden table.

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          0.901          -1.75          0              180            0
   1  Pan             -0.376         0.975          -2.031         0              180            0              75
   2  Potato          -3.130         1.057          -2.002         0              90             0              87
   3  DishSponge      -3.056         0.913          -3.327         0              0              0              46
   4  DishSponge      -2.581         0.713          -0.496         0              270            0              90
   5  ButterKnife     -2.449         0.913          -3.581         0              0              0              46
   6  Spoon           -3.211         0.714          -0.753         0              225            0              90
   7  Fork            -0.076         0.914          -3.112         0              0              0              46
   8  Fork            -0.382         0.746          -3.079         0              90             0              76
   9  Egg             -0.189         1.048          -0.900         0              270            0              83
  10  Egg             -0.419         0.951          -1.677         0              0              0              73
  11  Cup             -1.614         0.083          -3.595         0              0              0              62
  12  Cup             -0.039         0.914          -3.729         0              0              0              46
  13  Plate           -2.439         0.711          -0.433         0              270            0              90
  14  Plate           -3.275         1.866          -2.566         0              0              0              55
  15  Plate           -3.309         0.911          -3.227         0              0              0              46
  16  Knife           -1.262         0.946          -3.729         0              0              0              46
  17  Knife           -3.066         0.749          -0.697         0              225            0              90
  18  Tomato          -0.095         0.965          -0.507         0              0              0              73
  19  Bowl            -0.854         0.911          -3.878         0              0              0              46
  20  Bowl            -2.765         0.711          -0.596         0              135            0              90
  21  PepperShaker    -3.082         0.742          -3.134         0              0              0              68
  22  Lettuce         -3.309         1.001          -2.926         0              0              0              46
  23  Lettuce         -3.292         0.801          -0.558         0              270            0              90
  24  Apple           -2.803         0.759          -0.922         0              0              0              90
  25  Pot             -2.836         0.903          -3.745         0              92.628         0              46
  26  Egg             -0.189         1.048          -0.802         0              270            0              83
  27  Cup             -1.058         0.914          -3.804         0              0              0              46
  28  Bread           -0.327         0.948          -3.681         0              298.222        0              46
  29  Fork            -3.199         0.747          -3.023         0              90             0              68
  30  Pan             -0.243         0.912          -3.952         0              90             0              46
  31  Potato          -3.234         1.057          -2.125         0              90             0              87
  32  Lettuce         -3.130         1.486          -2.002         0              90             0              87
  33  Tomato          -0.412         0.963          -3.213         0              0              0              46
  34  Apple           -2.581         0.756          -0.683         0              270            0              90
  35  SoapBottle      -0.095         0.915          -1.616         0              0              0              73
  36  Spatula         -3.140         0.761          -2.857         0              270            0              68
  37  SaltShaker      -0.244         0.910          -2.911         0              0              0              46
  38  Knife           -2.664         0.749          -0.294         0              315            0              90
  39  PepperShaker    -2.934         0.713          -0.829         0              225            0              90
  40  ButterKnife     -2.241         0.903          -3.591         0              14.999         0              46
  41  Plate           -3.176         1.866          -2.334         0              0              0              55
  42  DishSponge      -2.753         0.713          -0.206         0              225            0              90
  43  Spoon           -2.990         0.714          -0.922         0              0              0              90
  44  Mug             -2.930         0.762          -0.358         0              135            0              86
  45  Bowl            -3.130         0.638          -2.002         0              90             0              87
  46  CounterTop      -1.789         0.949          -3.803         0              0              0
  47  Cabinet         -0.577         0.388          -3.476         0              0              0
  48  Cabinet         -0.605         0.388          -3.511         0              0              0
  49  Cabinet         -2.976         0.388          -3.201         0              0              0
  50  Cabinet         -0.577         0.388          -0.447         0              0              0
  51  Cabinet         -0.577         0.388          -1.725         0              0              0
  52  Cabinet         -0.226         1.803          -1.743         0              0              0
  53  Cabinet         -0.228         1.799          -0.447         0              0              0
  54  Cabinet         -6.010         1.139          -6.019         0              0              0
  55  Cabinet         -3.022         2.098          -2.681         0              0              0
  56  Cabinet         -3.022         2.098          -1.743         0              0              0
  57  Cabinet         -0.577         0.388          -2.736         0              0              0
  58  Cabinet         -3.232         1.803          -3.343         0              0              0
  59  Cabinet         -2.811         1.810          -3.764         0              0              0
  60  Cabinet         -1.233         1.810          -3.764         0              0              0
  61  Cabinet         -1.364         0.388          -3.511         0              0              0
  62  Cabinet         -1.380         0.388          -3.511         0              0              0
  63  Cabinet         -0.226         1.803          -2.725         0              0              0
  64  Cabinet         -0.236         2.098          -1.767         0              0              0
  65  Cabinet         -0.236         2.098          -2.705         0              0              0
  66  Cabinet         -0.193         1.210          -4.239         0              0              0
  67  Cabinet         -2.148         0.388          -3.511         0              0              0
  68  Drawer          -3.104         0.797          -2.968         0              0              0
  69  Drawer          -0.449         0.797          -1.410         0              0              0
  70  Sink            -1.786         0.902          -3.748         0              0              0
  71  StoveBurner     -0.376         0.936          -2.451         0              0              0
  72  Drawer          -0.449         0.797          -0.762         0              0              0
  73  CounterTop      -0.268         0.951          -1.089         0              0              0
  74  Drawer          -0.449         0.797          -3.348         0              0              0
  75  StoveBurner     -0.376         0.936          -2.031         0              180            0
  76  Drawer          -0.449         0.797          -2.968         0              0              0
  77  StoveBurner     -0.165         0.936          -2.030         0              180            0
  78  StoveBurner     -0.165         0.936          -2.450         0              0              0
  79  StoveKnob       -0.568         0.903          -2.313         45             270            0
  80  StoveKnob       -0.568         0.903          -2.470         45             270            0
  81  StoveKnob       -0.568         0.903          -2.166         45             270            0
  82  StoveKnob       -0.568         0.903          -2.003         45             270            0
  83  Microwave       -0.143         0.903          -0.908         0              270            0
  84  LightSwitch     -1.108         1.457          0.338          0              180            0
  85  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  86  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  87  Fridge          -3.188         0.0            -2.184         0              0              0
  88  SinkBasin       -1.786         0.779          -3.747         0              0              0
  89  Toaster         -0.230         0.903          -3.406         0              270            0
  90  DiningTable     -2.800         0.003          -0.505         0              0              0
  91  Chair           -3.044         0.003          -1.223         0              32.194         0
  92  Faucet          -1.791         1.136          -3.913         0              270            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn around and walk toward the wall, then hang a left and walk up to the round wooden table. | STEP 2: Pick up the dirty grey plate with the sponge on it off of the wooden table. | STEP 3: Turn left and walk over to the sink. | STEP 4: Put the dirty grey plate with the sponge on it into the sink and turn on the water, after a couple seconds turn the water off and remove the now clean plate and sponge. | STEP 5: Turn right and walk towards the counter, then hang a right and walk over to the round wooden table. | STEP 6: Put the clean grey plate with the sponge on it onto the round wooden table. | END