Task: To clean a plate and put it in the cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.899          6.25           0              0              0
   1  Pencil          -1.860         0.923          1.875          0              0              0              67
   2  Pencil          -0.503         0.746          4.616          0              270            0              59
   3  Potato          -3.859         0.956          1.724          0              0              0              69
   4  Potato          -3.748         0.102          6.333          0              270            0              95
   5  WineBottle      -0.565         0.926          5.603          0              0              0              54
   6  Pot             -2.469         0.930          1.712          0              270            0              84
   7  Fork            -0.488         0.925          4.944          0              0              0              54
   8  Spoon           -0.503         0.747          5.997          0              270            0              80
   9  Spatula         -1.860         0.938          1.8            0              180            0              51
  10  Egg             -3.784         0.104          6.498          0              270            0              95
  11  Plate           -2.583         1.547          1.666          0              0              0              99
  12  Knife           -3.859         0.953          1.951          0              0              0              69
  13  Bowl            -1.943         0.920          1.724          0              0              0              51
  14  PepperShaker    -1.704         0.742          1.985          0              0              0              67
  15  Lettuce         -0.301         1.676          3.470          0              270            0              102
  16  Bread           -0.411         1.004          4.944          0              0              0              54
  17  Mug             -2.109         0.918          1.951          0              0              0              51
  18  Mug             -3.494         0.918          5.489          0              90             0              69
  19  Egg             -0.454         1.106          3.974          0              270            0              102
  20  Apple           -1.610         0.976          1.648          0              0              0              51
  21  Knife           -0.181         0.954          5.932          0              0              0              54
  22  Potato          -0.301         1.719          3.915          0              270            0              102
  23  Fork            -1.610         0.924          1.875          0              90             0              51
  24  Bowl            -0.295         1.067          3.850          0              270            0              102
  25  Plate           -3.374         0.924          5.182          0              90             0              69
  26  Lettuce         -0.342         1.431          3.231          0              270            0              102
  27  Bread           -0.301         1.415          3.850          0              270            0              102
  28  Tomato          -4.411         0.980          4.640          0              90             0              69
  29  WineBottle      -4.486         0.924          5.418          0              90             0              69
  30  Spatula         -3.613         0.938          5.336          0              90             0              69
  31  PaperTowelRoll  -0.334         1.029          4.615          0              0              0              54
  32  Cup             -0.411         0.923          5.273          0              0              0              54
  33  Pencil          -0.104         0.925          5.273          0              0              0              54
  34  Pan             -0.301         1.335          3.479          0              180            0              102
  35  Pot             -2.924         0.930          1.712          0              180            0              66
  36  SaltShaker      -4.128         0.074          4.584          0              0              0              62
  37  SoapBottle      -3.277         0.079          5.116          0              90             0              47
  38  PepperShaker    -4.067         0.076          3.556          0              0              0              74
  39  ButterKnife     -2.026         0.923          1.875          0              180            0              51
  40  DishSponge      -1.777         0.923          2.026          0              0              0              51
  41  Spoon           -1.860         0.924          1.951          0              0              0              51
  42  Mug             -0.409         0.955          6.557          0              270            0              90
  43  Cabinet         -3.203         1.931          1.777          0              0              0
  44  Cabinet         -3.187         0.390          2.089          0              0              0
  45  Cabinet         -0.637         0.387          6.882          0              180            0
  46  Drawer          -3.797         0.781          1.961          0              0              0
  47  Cabinet         -3.036         0.387          5.029          0              90             0
  48  Drawer          -0.509         0.775          5.268          0              270            0
  49  Drawer          -4.125         0.798          2.499          0              0              0
  50  Cabinet         -0.331         2.249          4.308          0              180            0
  51  CounterTop      -1.872         0.958          1.799          0              0              0
  52  StoveBurner     -2.924         0.924          2.012          0              0              0
  53  Cabinet         -0.331         2.249          6.806          0              180            0
  54  CounterTop      -0.345         0.960          5.603          0              0              0
  55  Cabinet         -3.039         1.935          5.321          0              90             0
  56  Cabinet         -3.922         0.397          2.088          0              0              0
  57  StoveBurner     -2.467         0.924          2.012          0              0              0
  58  Cabinet         -0.331         2.249          5.505          0              180            0
  59  Drawer          -0.509         0.775          4.617          0              270            0
  60  Drawer          -3.509         0.777          5.157          0              180            0
  61  Cabinet         -3.961         0.388          2.878          0              0              0
  62  Cabinet         -3.961         0.388          4.342          0              0              0
  63  Cabinet         -0.637         0.387          5.582          0              180            0
  64  Cabinet         -0.637         0.388          4.299          0              180            0
  65  Cabinet         -0.637         0.388          5.599          0              180            0
  66  StoveBurner     -2.924         0.924          1.712          0              180            0
  67  Drawer          -1.859         0.775          1.961          0              0              0
  68  Cabinet         -0.331         2.249          5.609          0              180            0
  69  CounterTop      -4.260         0.958          4.943          0              90             0
  70  Cabinet         -4.284         1.931          2.226          0              0              0
  71  Cabinet         -0.331         2.249          3.010          0              180            0
  72  Drawer          -3.801         0.777          5.157          0              180            0
  73  Cabinet         -4.112         1.935          5.321          0              90             0
  74  Cabinet         -3.968         0.388          3.662          0              0              0
  75  Drawer          -3.418         0.777          1.961          0              0              0
  76  Drawer          -4.090         0.777          4.661          0              90             0
  77  Faucet          -4.441         0.909          3.288          270            0              0
  78  Cabinet         -0.331         2.249          4.207          0              180            0
  79  Cabinet         -3.961         0.388          2.119          0              0              0
  80  Drawer          -0.509         0.775          5.920          0              270            0
  81  Drawer          -3.193         0.777          5.157          0              180            0
  82  Cabinet         -3.968         0.388          2.894          0              0              0
  83  Cabinet         -3.667         0.387          5.029          0              90             0
  84  StoveBurner     -2.469         0.924          1.712          0              270            0
  85  Cabinet         -1.539         0.388          2.090          0              0              0
  86  Sink            -4.190         0.921          3.279          0              0              0
  87  Cabinet         -3.641         0.387          5.029          0              90             0
  88  Cabinet         -1.583         1.931          1.777          0              0              0
  89  Drawer          -0.509         0.775          6.568          0              270            0
  90  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  91  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  92  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  95  GarbageCan      -3.711         -0.030         6.376          0              270            0
  96  Toaster         -3.578         0.912          1.763          0              0              0
  97  Curtains        -4.522         2.252          3.391          90             90             0
  98  Window          -4.868         1.629          3.309          90             270            0
  99  Microwave       -2.693         1.430          1.689          0              0              0
 100  LightSwitch     -1.588         1.169          1.506          0              0              0
 101  SinkBasin       -4.196         0.780          3.276          0              270            0
 102  Fridge          -0.324         -0.001         3.602          0              0              0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn left, turn left at the red bin, turn right to face the counter on the right.  | STEP 2: Pick up the dirty blue plate from the counter.  | STEP 3: Turn around and walk to the sink on the right.  | STEP 4: Put the plate in the sink, wash the plate with water, pick up the plate from the sink.  | STEP 5: Turn left and face the counter with the toaster on it and look at the cabinet below the counter.  | STEP 6: Open the cabinet door, put the plate in the cabinet, and close the door.  | END