Task: Washing the dirty dishes

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          2.5            0              270            0
   1  Pan             -0.244         0.829          1.684          0              0              0              48
   2  Potato          -2.608         0.862          0.278          0              0              0              49
   3  Potato          -2.877         0.960          1.125          0              0              0              68
   4  DishSponge      -2.840         0.823          0.352          0              0              0              49
   5  DishSponge      -0.360         0.694          1.178          0              0              0              45
   6  Fork            -2.530         0.692          1.474          0              90             0              54
   7  Spoon           -1.801         0.698          0.295          0              0              0              76
   8  Egg             -2.877         0.945          1.443          0              90             0              68
   9  Cup             -2.619         1.849          2.264          0              0              0              59
  10  Cup             -2.881         1.436          0.674          0              0              0              58
  11  Plate           -2.837         1.148          2.397          0              90             0              67
  12  Plate           -1.407         0.130          0.401          0              0              0              62
  13  Plate           -2.726         1.148          2.045          0              90             0              67
  14  Knife           -2.724         0.849          0.129          0              90             0              49
  15  Tomato          -0.262         0.106          2.572          0              0              0              69
  16  SoapBottle      -0.395         0.054          2.572          0              0              0              69
  17  SaltShaker      -0.477         0.818          0.881          0              0              0              49
  18  SaltShaker      -1.151         0.818          0.055          0              0              0              49
  19  Mug             -2.777         0.916          1.390          0              90             0              68
  20  Apple           -0.147         0.896          0.426          0              0              0              49
  21  Apple           -2.892         1.518          2.485          0              90             0              67
  22  Fork            -1.160         0.813          0.280          2.133          358.710        0              49
  23  Ladle           -0.371         0.738          0.879          0              45             0              51
  24  Pan             -0.244         0.829          2.075          0              180            0              44
  25  SoapBottle      -0.147         0.821          0.278          0              0              0              49
  26  Pot             -0.531         0.822          2.096          0              0              0              46
  27  Tomato          -2.669         1.181          2.373          0              0              0              67
  28  Potato          -2.781         1.484          1.957          0              90             0              67
  29  SaltShaker      -2.375         0.818          0.203          0              0              0              49
  30  Plate           -2.719         1.439          0.228          0              45             0              55
  31  Spatula         -2.658         0.838          0.462          0              90             0              49
  32  Knife           -1.876         0.849          0.498          0              0              0              49
  33  Egg             -2.947         1.167          2.485          0              90             0              67
  34  Cup             -2.462         1.849          2.030          0              0              0              43
  35  ButterKnife     -1.374         0.823          0.549          0              0              0              49
  36  Lettuce         -2.726         0.908          2.221          0              90             0              67
  37  PepperShaker    -1.374         0.818          0.046          0              0              0              49
  38  DishSponge      -0.363         0.696          0.839          0              0              0              51
  39  Bread           -0.974         0.855          0.248          0              30.760         0              49
  40  Spoon           -0.360         0.695          1.288          0              0              0              45
  41  Mug             -2.810         0.916          1.231          0              90             0              68
  42  Bowl            -0.397         0.115          0.914          0              0              0              65
  43  Cabinet         -2.377         2.015          1.720          0              0              0
  44  StoveBurner     -0.244         0.820          2.075          0              180            0
  45  Drawer          -0.402         0.703          1.252          0              0              0
  46  StoveBurner     -0.518         0.820          2.075          0              180            0
  47  Sink            -1.838         0.726          0.343          0              180            0
  48  StoveBurner     -0.244         0.820          1.684          0              0              0
  49  CounterTop      -1.557         0.859          0.277          0              0              0
  50  StoveBurner     -0.518         0.820          1.684          0              0              0
  51  Drawer          -0.404         0.704          0.912          0              0              0
  52  Drawer          -0.861         0.709          0.420          0              0              0
  53  Drawer          -1.133         0.706          0.418          0              0              0
  54  Drawer          -2.589         0.703          1.511          0              0              0
  55  Cabinet         -2.772         1.803          0.508          0              0              0
  56  Cabinet         -2.460         1.803          0.231          0              0              0
  57  Cabinet         -2.781         1.798          0.825          0              0              0
  58  Cabinet         -2.781         1.798          0.815          0              0              0
  59  Cabinet         -2.377         2.009          2.581          0              0              0
  60  Cabinet         -2.442         0.385          1.672          0              0              0
  61  Cabinet         -2.238         0.385          0.564          0              0              0
  62  Cabinet         -1.286         0.385          0.564          0              0              0
  63  Cabinet         -1.262         0.385          0.565          0              0              0
  64  Cabinet         -0.734         0.385          0.565          0              0              0
  65  Cabinet         -0.549         0.385          0.751          0              0              0
  66  Cabinet         -0.549         0.385          1.412          0              0              0
  67  Fridge          -2.782         0.0            2.221          0              0              0
  68  Microwave       -2.794         0.812          1.348          0              90             0
  69  GarbageCan      -0.329         2.205          2.606          0              0              0
  70  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  71  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  72  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  73  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  74  Window          -1.720         1.342          -0.208         90             0              0
  75  Toaster         -0.171         0.812          0.735          0              270            0
  76  SinkBasin       -1.745         0.687          0.295          0              0              0
  77  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  78  LightSwitch     -0.615         1.378          3.0            0              180            0
  79  Faucet          -1.686         0.954          0.176          0              236.223        0
  80  Stool           -1.008         0.008          1.955          0              18.279         0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn to the left | STEP 2: Walk straight to the kitchen counter | STEP 3: Grab the knife on the counter | STEP 4: Turn to the left | STEP 5: Open the door to the under cabinet | STEP 6: Grab a cake pan and put the knife in the pan | STEP 7: Carry the items to the sink and put them in there | END