Task: Take plate to sink, clean it, move to 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          -0.5           0              90             0
   1  ButterKnife     -2.581         0.717          -0.433         0              270            0              79
   2  Spoon           -0.039         0.914          -3.729         0              0              0              35
   3  Fork            -3.255         0.717          -0.282         0              225            0              79
   4  Fork            -2.581         0.714          -0.621         0              90             0              79
   5  Egg             -3.079         1.049          -1.817         0              90             0              76
   6  Cup             -2.620         0.717          -0.339         0              225            0              79
   7  Knife           -3.292         0.746          -0.433         0              270            0              79
   8  Tomato          -2.740         0.763          -0.922         0              0              0              79
   9  SoapBottle      -0.095         0.915          -1.677         0              0              0              62
  10  SoapBottle      -3.111         0.716          -0.652         0              225            0              79
  11  Bowl            -3.079         1.396          -1.941         0              90             0              76
  12  PepperShaker    -0.095         0.912          -1.555         0              0              0              62
  13  Lettuce         -3.182         0.729          -2.064         0              90             0              76
  14  Pot             -2.836         0.903          -3.745         0              92.628         0              35
  15  Egg             -1.551         0.949          -3.989         0              0              0              35
  16  Cup             -3.346         0.914          -3.729         0              0              0              35
  17  Bread           -0.327         0.948          -3.681         0              298.222        0              35
  18  Fork            -0.014         0.916          -1.616         0              90             0              62
  19  Pan             -0.376         0.975          -2.031         0              180            0              64
  20  Potato          -3.014         0.930          -2.470         0              180            0              76
  21  Lettuce         -1.324         0.988          -3.759         1.632          253.771        357.214        35
  22  Tomato          -0.160         0.963          -3.213         0              0              0              35
  23  Apple           -0.158         1.055          -0.950         0              270            0              72
  24  SoapBottle      -2.475         0.716          -0.709         0              135            0              79
  25  Spatula         -2.865         0.728          -0.922         0              0              0              79
  26  SaltShaker      -0.471         0.742          -0.837         0              0              0              61
  27  Knife           -0.338         0.948          -0.559         0              0              0              62
  28  PepperShaker    -0.441         0.742          -1.563         0              0              0              58
  29  ButterKnife     -0.338         0.916          -1.432         0              0              0              62
  30  Plate           -0.413         0.078          -1.414         0              0              0              40
  31  DishSponge      -0.443         0.745          -3.347         0              0              0              63
  32  Spoon           -2.803         0.714          -0.069         0              0              0              79
  33  Mug             -0.176         0.910          -0.490         0              0              0              62
  34  Bowl            -2.803         0.711          -0.638         0              0              0              79
  35  CounterTop      -1.789         0.949          -3.803         0              0              0
  36  Cabinet         -0.577         0.388          -3.476         0              0              0
  37  Cabinet         -0.605         0.388          -3.511         0              0              0
  38  Cabinet         -2.976         0.388          -3.201         0              0              0
  39  Cabinet         -0.577         0.388          -0.447         0              0              0
  40  Cabinet         -0.577         0.388          -1.725         0              0              0
  41  Cabinet         -0.226         1.803          -1.743         0              0              0
  42  Cabinet         -0.228         1.799          -0.447         0              0              0
  43  Cabinet         -6.010         1.139          -6.019         0              0              0
  44  Cabinet         -3.022         2.098          -2.681         0              0              0
  45  Cabinet         -3.022         2.098          -1.743         0              0              0
  46  Cabinet         -0.577         0.388          -2.736         0              0              0
  47  Cabinet         -3.232         1.803          -3.343         0              0              0
  48  Cabinet         -2.811         1.810          -3.764         0              0              0
  49  Cabinet         -1.233         1.810          -3.764         0              0              0
  50  Cabinet         -1.364         0.388          -3.511         0              0              0
  51  Cabinet         -1.380         0.388          -3.511         0              0              0
  52  Cabinet         -0.226         1.803          -2.725         0              0              0
  53  Cabinet         -0.236         2.098          -1.767         0              0              0
  54  Cabinet         -0.236         2.098          -2.705         0              0              0
  55  Cabinet         -0.193         1.210          -4.239         0              0              0
  56  Cabinet         -2.148         0.388          -3.511         0              0              0
  57  Drawer          -3.104         0.797          -2.968         0              0              0
  58  Drawer          -0.449         0.797          -1.410         0              0              0
  59  Sink            -1.786         0.902          -3.748         0              0              0
  60  StoveBurner     -0.376         0.936          -2.451         0              0              0
  61  Drawer          -0.449         0.797          -0.762         0              0              0
  62  CounterTop      -0.268         0.951          -1.089         0              0              0
  63  Drawer          -0.449         0.797          -3.348         0              0              0
  64  StoveBurner     -0.376         0.936          -2.031         0              180            0
  65  Drawer          -0.449         0.797          -2.968         0              0              0
  66  StoveBurner     -0.165         0.936          -2.030         0              180            0
  67  StoveBurner     -0.165         0.936          -2.450         0              0              0
  68  StoveKnob       -0.568         0.903          -2.313         45             270            0
  69  StoveKnob       -0.568         0.903          -2.470         45             270            0
  70  StoveKnob       -0.568         0.903          -2.166         45             270            0
  71  StoveKnob       -0.568         0.903          -2.003         45             270            0
  72  Microwave       -0.143         0.903          -0.908         0              270            0
  73  LightSwitch     -1.108         1.457          0.338          0              180            0
  74  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  75  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  76  Fridge          -3.188         0.0            -2.184         0              0              0
  77  SinkBasin       -1.786         0.779          -3.747         0              0              0
  78  Toaster         -0.230         0.903          -3.406         0              270            0
  79  DiningTable     -2.800         0.003          -0.505         0              0              0
  80  Chair           -3.044         0.003          -1.223         0              32.194         0
  81  Faucet          -1.791         1.136          -3.913         0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn right, walk forward to stove, turn left at cupboard | STEP 2: Open lower cupboard, pick up dirty plate in cupboard, close cupboard | STEP 3: Turn around, walk forward, turn left at sink, walk to sink | STEP 4: Place plate inside sink, turn on water, turn off water, remove plate | STEP 5: Turn around, walk past refrigerator, turn left, walk to wall, turn right,  | STEP 6: Place plate on top of table | END