Task: Put clean plate on a shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          0.5            0              90             0
   1  Pan             1.845          0.948          -0.355         0              0              0              50
   2  Ladle           -1.028         0.170          -1.501         0              90             0              64
   3  Ladle           -0.047         0.975          0.305          0              0              0              86
   4  DishSponge      0.180          0.930          0.305          0              0              0              86
   5  DishSponge      1.557          0.913          -1.095         0              0              0              69
   6  ButterKnife     0.066          0.930          1.448          0              0              0              86
   7  WineBottle      1.181          0.120          -1.806         0              0              0              61
   8  WineBottle      1.631          0.121          -1.528         0              270            0              63
   9  Spatula         -0.668         0.928          -2.134         0              0              0              69
  10  Fork            0.408          0.931          0.534          0              0              0              86
  11  Egg             -1.495         0.913          -1.013         0              90             0              77
  12  Egg             -0.963         0.967          -2.115         0              0              0              69
  13  Cup             -0.381         2.151          -2.094         0              0              0              54
  14  Cup             -1.323         1.183          -0.392         0              90             0              77
  15  Plate           1.909          1.661          -1.608         0              270            0              59
  16  Tomato          -1.553         1.235          -0.910         0              90             0              77
  17  Tomato          0.180          0.978          0.991          0              0              0              86
  18  Bowl            0.180          0.923          1.448          0              0              0              86
  19  Bowl            -0.047         0.927          1.220          0              0              0              86
  20  SaltShaker      -0.616         0.909          -2.233         0              0              0              69
  21  SaltShaker      0.294          0.923          0.305          0              0              0              86
  22  PepperShaker    0.066          0.923          0.076          0              0              0              86
  23  PepperShaker    -0.160         0.923          0.305          0              0              0              86
  24  Bread           0.180          0.972          0.534          0              0              0              86
  25  Mug             -0.047         0.921          0.991          0              0              0              86
  26  Apple           -1.323         1.254          -0.806         0              90             0              77
  27  Apple           1.786          0.157          0.044          0              0              0              70
  28  Potato          0.522          0.956          1.448          0              0              0              86
  29  Bowl            1.773          0.549          2.431          0              0              0              89
  30  SoapBottle      0.408          0.929          0.991          0              0              0              86
  31  Fork            -0.047         0.931          0.534          0              0              0              86
  32  Ladle           0.408          0.971          0.762          0              0              0              86
  33  Bread           0.399          0.964          0.111          0              0              1.601          86
  34  Lettuce         -1.429         0.925          -0.542         0              315            0              77
  35  WineBottle      1.669          0.881          2.429          0              0              0              90
  36  Spatula         0.921          0.928          -2.085         0              180            0              69
  37  Plate           0.444          1.662          -2.162         0              0              0              58
  38  SaltShaker      0.180          0.923          1.220          0              0              0              86
  39  Pot             -0.117         0.921          1.5            0              0              0              86
  40  Cup             -1.000         0.913          -2.260         0              0              0              69
  41  PepperShaker    1.566          0.549          2.534          0              0              0              89
  42  Pan             1.567          0.948          -0.757         0              0              0              51
  43  ButterKnife     -0.346         0.913          -1.713         0              0              0              69
  44  Tomato          1.828          0.965          -1.329         0              0              0              69
  45  DishSponge      1.466          0.913          -1.680         0              0              0              69
  46  Egg             -1.495         1.558          -0.495         0              90             0              77
  47  Spoon           0.408          0.928          1.220          0              0              0              86
  48  Knife           0.689          0.936          -1.751         0              0              0              69
  49  Mug             1.738          0.908          -1.563         0              0              0              69
  50  StoveBurner     1.845          0.940          -0.355         0              0              0
  51  StoveBurner     1.567          0.940          -0.757         0              0              0
  52  Cabinet         -1.149         2.019          -1.979         0              90             0
  53  Cabinet         -1.149         2.265          -0.834         0              90             0
  54  Cabinet         -0.459         2.265          -2.0           0              0              0
  55  Cabinet         -1.100         2.019          -2.0           0              0              0
  56  Cabinet         1.719          2.019          -2.0           0              0              0
  57  Cabinet         1.179          2.019          -2.0           0              0              0
  58  Cabinet         0.199          2.019          -2.0           0              0              0
  59  Cabinet         1.75           2.019          -1.399         0              270            0
  60  Cabinet         1.75           2.019          -1.029         0              270            0
  61  Cabinet         1.379          0.469          -1.689         0              0              0
  62  Cabinet         -0.819         0.469          -1.689         0              0              0
  63  Cabinet         1.389          0.469          -1.059         0              270            0
  64  Cabinet         -0.839         0.469          -1.665         0              90             0
  65  StoveBurner     1.567          0.940          -0.355         0              0              0
  66  StoveBurner     1.845          0.940          -0.757         0              0              0
  67  Sink            -0.109         0.893          -2.009         0              0              0
  68  Drawer          -0.819         0.75           -1.690         0              0              0
  69  CounterTop      0.232          0.949          -2.002         0              0              0
  70  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  71  Vase            0.251          0.546          0.475          0              270            0
  72  Toaster         0.780          0.900          -2.080         0              0              0
  73  LightSwitch     0.108          1.315          2.75           0              180            0
  74  Vase            0.400          0.925          0.218          0              180            0
  75  Microwave       -1.233         0.900          -1.680         0              90             0
  76  Vase            1.465          1.662          -2.200         0              0              0
  77  Fridge          -1.495         0.0            -0.703         0              0              0
  78  Window          2.114          1.495          1.072          90             270            0
  79  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  80  Vase            0.333          0.546          1.272          0              270            0
  81  SinkBasin       -0.148         0.753          -2.026         0              0              0
  82  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  83  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  84  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  85  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  86  DiningTable     0.170          0.005          0.678          0              270            0
  87  Shelf           0.170          0.155          0.678          0              270            0
  88  Shelf           1.605          0.172          2.480          0              0              0
  89  Shelf           1.605          0.552          2.480          0              0              0
  90  Shelf           1.604          0.880          2.479          0              0              0
  91  ShelvingUnit    1.605          0.006          2.480          0              0              0
  92  Faucet          -0.143         1.028          -2.223         0              270            0
  93  Stool           -0.553         0.000          0.871          1.233          280.376        0
  94  Shelf           0.170          0.528          0.678          0              270            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn around, go forward, hang a left and go to the counter to the right of the stove. | STEP 2: Take the dirty plate out of the second top cabinet to the right of the stove.  | STEP 3: Turn around, go forward to the sink on the left. | STEP 4: Put the plate in the sink and rinse it off, then pick it back up. | STEP 5: Turn to the left, go to the counter, hang a left and go to the brown shelf across the room. | STEP 6: Put the plate on the second shelf to the left of the salt. | END