Task: Pick up dirty plate, clean it and finally 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           2.5            0.900          1.75           0              270            0
   1  Pan             0.974          0.957          -1.419         0              180            0              71
   2  Book            -2.196         0.875          3.475          0              225            0              55
   3  DishSponge      -0.871         0.192          2.174          0              90             0              83
   4  ButterKnife     -1.849         0.912          -1.265         0              0              0              53
   5  Spatula         -3.017         0.893          3.580          0              135            0              55
   6  Pot             -0.035         1.574          2.040          0              180            0              78
   7  Fork            -1.748         0.720          -0.859         0              90             0              68
   8  Spoon           1.651          0.911          -1.255         0              0              0              73
   9  Spoon           -2.592         0.875          3.049          0              135            0              55
  10  Cup             -2.072         0.910          0.037          0              0              0              53
  11  Knife           -2.778         0.896          3.341          0              135            0              55
  12  SoapBottle      0.036          0.114          -1.415         0              0              0              61
  13  SaltShaker      -1.388         1.653          -1.600         0              0              0              66
  14  PepperShaker    -2.001         1.653          -1.674         0              0              0              66
  15  PepperShaker    1.760          0.906          -1.437         0              0              0              73
  16  Lettuce         -3.165         0.943          3.296          0              270            0              55
  17  Lettuce         -2.845         0.943          2.930          0              225            0              55
  18  Mug             -0.999         1.649          -1.636         0              0              0              65
  19  Mug             -2.487         0.869          3.154          0              135            0              55
  20  Apple           -2.510         0.933          2.884          0              0              0              55
  21  Book            -0.292         0.118          -1.413         0              0              0              62
  22  Fork            0.617          0.912          -1.572         0              0              0              53
  23  Tomato          -1.961         0.959          0.363          0              0              0              53
  24  Egg             0.079          0.414          2.112          0              180            0              78
  25  Kettle          -2.405         0.875          2.758          0              135            0              55
  26  Vase            3.671          0.168          1.841          0              0              0              76
  27  Cup             -2.584         0.876          3.390          0              0              0              55
  28  WineBottle      -0.723         0.913          -1.471         0              0              0              53
  29  Plate           -2.248         0.882          2.916          0              135            0              55
  30  Spatula         -2.321         0.889          3.370          0              270            0              55
  31  Potato          -0.377         1.608          1.981          0              180            0              78
  32  Pot             0.974          0.957          -1.688         0              180            0              52
  33  Knife           -2.996         0.900          3.221          0              0              0              55
  34  SaltShaker      -1.982         0.714          -1.372         0              0              0              72
  35  PepperShaker    -2.584         0.871          2.715          0              0              0              55
  36  Lettuce         -3.002         0.939          3.088          0              225            0              55
  37  ButterKnife     -2.405         0.878          3.685          0              225            0              55
  38  Bread           -1.516         0.995          0.037          0              0              0              53
  39  Vase            -1.627         0.913          -1.591         0              0              0              53
  40  DishSponge      -3.165         0.878          3.444          0              270            0              55
  41  Apple           -2.950         0.929          3.408          0              135            0              55
  42  Pan             1.328          0.957          -1.420         0              180            0              57
  43  Spoon           -2.490         0.875          3.296          0              270            0              55
  44  SoapBottle      -2.183         0.912          -0.614         0              0              0              53
  45  Mug             -2.436         0.869          3.390          0              0              0              55
  46  Statue          3.676          0.168          1.410          0              334.521        0              76
  47  Statue          -1.849         0.910          -0.288         0              0              0              53
  48  Bowl            1.157          1.759          -1.629         0              0              0              77
  49  Cabinet         -2.171         2.009          -1.538         0              0              0
  50  Sink            0.024          0.771          -1.708         0              270            0
  51  Cabinet         1.444          2.259          -1.542         0              0              0
  52  StoveBurner     0.974          0.957          -1.688         0              180            0
  53  CounterTop      -1.866         0.947          -0.614         0              0              0
  54  Cabinet         -2.217         0.373          -1.874         0              0              0
  55  DiningTable     -2.663         0.002          3.208          0              0              0
  56  StoveBurner     1.328          0.957          -1.688         0              180            0
  57  StoveBurner     1.328          0.957          -1.420         0              180            0
  58  Cabinet         -1.478         0.373          -1.235         0              0              0
  59  Cabinet         1.775          0.372          -1.242         0              0              0
  60  Cabinet         0.774          0.372          -1.242         0              0              0
  61  Cabinet         0.375          0.372          -1.242         0              0              0
  62  Cabinet         -0.574         0.372          -1.238         0              0              0
  63  Cabinet         1.775          2.009          -1.542         0              0              0
  64  Cabinet         0.524          2.009          -1.542         0              0              0
  65  Cabinet         -0.714         2.009          -1.542         0              0              0
  66  Cabinet         -1.671         2.009          -1.538         0              0              0
  67  Cabinet         0.854          2.259          -1.542         0              0              0
  68  Drawer          -1.636         0.683          -0.930         0              0              0
  69  Drawer          1.650          0.682          -1.396         0              0              0
  70  Drawer          0.600          0.682          -1.396         0              0              0
  71  StoveBurner     0.974          0.957          -1.419         0              180            0
  72  Drawer          -2.062         0.683          -1.579         0              0              0
  73  CounterTop      1.645          0.945          -1.527         0              0              0
  74  Shelf           3.725          0.880          1.671          0              90             0
  75  LightSwitch     2.830          1.266          -0.748         0              0              0
  76  Shelf           3.726          0.552          1.671          0              90             0
  77  Microwave       1.150          1.655          -1.614         0              0              0
  78  Fridge          -0.035         0.0            2.177          0              180            0
  79  Window          -0.115         1.802          -1.896         90             0              0
  80  Window          -4.009         1.799          0.310          90             90             0
  81  Shelf           3.726          0.172          1.671          0              90             0
  82  SinkBasin       -0.330         0.686          -1.581         0              270            0
  83  GarbageCan      -0.870         -0.001         2.136          0              90             0
  84  StoveKnob       1.089          0.913          -1.243         45             0              0
  85  StoveKnob       1.208          0.913          -1.243         45             0              0
  86  StoveKnob       1.340          0.913          -1.243         45             0              0
  87  StoveKnob       0.961          0.913          -1.243         45             0              0
  88  Toaster         1.637          0.900          -1.673         0              0              0
  89  Chair           -3.505         0.002          3.290          0              105.736        0
  90  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  91  HousePlant      -2.663         0.835          3.209          0              0              0
  92  Faucet          -0.187         0.922          -1.75          0              311.166        0
  93  ShelvingUnit    3.726          0.006          1.671          0              90             0
  94  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  95  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  96  Chair           -2.934         0.002          2.437          0              28.531         0
  97  Chair           -1.698         0.002          3.235          0              245.204        0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Walk forward two wall, turn right, walk forward to table | STEP 2: Pick up dirty plate from table | STEP 3: Turn around, walk forward to counter, turn left, walk forward to refrigerator, turn right, walk forward to sink  | STEP 4: Put dirty plate in sink, turn on water, turn off water, remove plate from sink | STEP 5: Turn around, walk to refrigerator, turn right, walk forward to wall | STEP 6: Place plate on second shelf against wall | END