Task: Place a 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           -1.0           0.900          -0.5           0              180            0
   1  Statue          -0.335         1.110          -0.253         0              0              0              63
   2  Potato          -0.059         1.142          0.757          0              0              0              63
   3  Potato          0.324          0.941          -2.637         0              0              0              65
   4  CreditCard      0.969          0.907          -2.407         0              0              0              65
   5  CreditCard      1.064          0.642          -2.249         0              0              0              68
   6  Plate           0.217          1.108          -0.001         0              0              0              63
   7  Plate           -1.705         0.133          -1.273         0              90             0              64
   8  Plate           -2.037         0.795          1.003          0              90             0              96
   9  Cup             -0.995         0.909          -2.483         0              0              0              88
  10  Cup             -1.291         1.656          -2.604         0              0              0              77
  11  SaltShaker      -0.059         1.107          -0.001         0              0              0              63
  12  SaltShaker      0.582          0.907          -2.637         0              0              0              65
  13  PepperShaker    -1.129         1.652          -2.532         0              0              0              77
  14  PepperShaker    -0.816         0.133          -2.301         0              0              0              81
  15  Bread           -0.335         1.184          0.251          0              0              0              63
  16  Lettuce         -0.335         1.191          0.504          0              0              0              63
  17  Lettuce         -0.059         1.191          -0.759         0              0              0              63
  18  Apple           -2.040         1.553          1.260          0              90             0              96
  19  Fork            0.324          0.911          -2.330         0              90             0              65
  20  Spoon           1.098          0.911          -2.330         0              0              0              65
  21  ButterKnife     0.079          1.111          -0.506         0              0              0              63
  22  Kettle          -0.036         0.950          -2.372         0              270            0              58
  23  Kettle          -0.036         0.950          -2.576         0              270            0              66
  24  WineBottle      1.119          1.661          -2.673         0              0              0              85
  25  DishSponge      -1.962         0.047          2.124          0              270            0              94
  26  DishSponge      -1.907         0.047          1.981          0              270            0              94
  27  Bowl            -2.080         0.537          1.251          0              90             0              96
  28  Book            0.155          1.1            0.617          0              315            0              63
  29  Glassbottle     1.686          0.881          -2.563         0              180            0              90
  30  Knife           -1.586         0.936          -2.329         0              0              0              88
  31  Bread           -1.143         0.983          -2.560         0              0              0              88
  32  Fork            0.355          1.112          0.251          0              0              0              63
  33  Potato          0.079          1.142          -0.759         0              0              0              63
  34  SoapBottle      0.453          0.911          -2.253         0              0              0              65
  35  Kettle          -0.465         0.950          -2.372         0              90             0              61
  36  Pan             0.721          0.9            -2.415         0              0              0              65
  37  Plate           0.336          0.137          -2.436         0              0              0              80
  38  Tomato          -0.197         1.150          -0.759         0              0              0              63
  39  Vase            2.042          0.540          -2.495         0              0              0              93
  40  Egg             -1.586         0.946          -2.483         0              0              0              88
  41  CreditCard      1.891          0.877          -2.536         0              180            0              90
  42  Statue          1.955          0.168          -2.543         0              0              0              95
  43  WineBottle      1.993          0.881          -2.590         0              180            0              90
  44  Pot             -1.219         0.9            -2.356         0              0              0              88
  45  Spatula         0.840          0.925          -2.484         0              180            0              65
  46  PaperTowelRoll  0.840          1.014          -2.560         0              0              0              65
  47  Cup             0.582          0.908          -2.253         0              0              0              65
  48  Vase            0.355          1.109          -0.253         0              0              0              63
  49  Bowl            -1.200         0.133          -2.352         0              0              0              81
  50  SaltShaker      -0.473         1.107          0.757          0              0              0              63
  51  PepperShaker    -0.816         0.133          -2.402         0              0              0              81
  52  Lettuce         1.098          0.990          -2.637         0              0              0              65
  53  ButterKnife     -0.848         0.911          -2.637         0              0              0              88
  54  Apple           -0.277         1.841          -2.610         0              0              0              89
  55  DishSponge      -0.197         1.111          -0.506         0              0              0              63
  56  Spoon           -1.696         0.154          -0.245         0              90             0              86
  57  Mug             -1.731         0.956          -0.168         0              90             0              97
  58  StoveBurner     -0.036         0.915          -2.372         0              0              0
  59  Drawer          0.949          0.832          -2.197         0              0              0
  60  Drawer          -1.560         0.839          0.204          0              90             0
  61  StoveBurner     -0.465         0.915          -2.371         0              180            0
  62  Drawer          -1.560         0.839          -0.197         0              90             0
  63  CounterTop      -0.079         1.147          -0.001         0              0              0
  64  Cabinet         -1.549         0.494          -1.964         0              90             0
  65  CounterTop      0.693          0.946          -2.483         0              0              0
  66  StoveBurner     -0.036         0.915          -2.576         0              0              0
  67  Drawer          0.949          0.393          -2.200         0              0              0
  68  Drawer          0.949          0.708          -2.200         0              0              0
  69  Cabinet         -1.549         0.494          0.379          0              90             0
  70  StoveKnob       -0.022         0.881          -2.187         45             0              0
  71  Drawer          0.949          0.560          -2.201         0              0              0
  72  StoveBurner     -0.465         0.915          -2.575         0              180            0
  73  Window          -2.230         1.429          -1.203         0              0              0
  74  StoveKnob       -0.483         0.881          -2.187         45             0              0
  75  Sink            -1.899         0.964          -1.5           0              90             0
  76  StoveKnob       -0.328         0.881          -2.187         45             0              0
  77  Cabinet         -0.727         2.015          -2.460         0              0              0
  78  Drawer          -1.560         0.655          -0.196         0              90             0
  79  Cabinet         -1.685         2.015          -2.461         0              0              0
  80  Cabinet         0.680          0.494          -2.200         0              0              0
  81  Cabinet         -1.179         0.494          -2.200         0              0              0
  82  Cabinet         -1.849         2.015          0.379          0              90             0
  83  Drawer          0.949          0.221          -2.200         0              0              0
  84  StoveKnob       -0.183         0.881          -2.187         45             0              0
  85  Cabinet         0.719          2.015          -2.460         0              0              0
  86  Drawer          -1.560         0.331          -0.196         0              90             0
  87  Cabinet         0.680          2.015          -2.460         0              0              0
  88  CounterTop      -1.868         0.946          -1.205         0              0              0
  89  Microwave       -0.236         1.689          -2.525         0              0              0
  90  Shelf           1.751          0.880          -2.560         0              0              0
  91  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  92  Toaster         -1.835         0.900          0.134          0              90             0
  93  Shelf           1.750          0.552          -2.559         0              0              0
  94  GarbageCan      -1.935         -0.002         2.029          0              270            0
  95  Shelf           1.750          0.172          -2.559         0              0              0
  96  Fridge          -2.096         0.0            1.088          0              0              0
  97  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  98  SinkBasin       -1.908         0.759          -1.488         0              90             0
  99  LightSwitch     2.329          1.309          -0.159         0              270            0
 100  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 101  Stool           0.702          0.000          -0.514         1.202          65.108         0
 102  Stool           0.743          0.000          0.563          1.227          106.706        0
 103  Faucet          -2.070         1.132          -1.514         0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Head to the sink that is ahead of you on your right. | STEP 2: Open the cabinet that is under the sink and pick up the dirty plate that is inside, then close the cabinet | STEP 3: Step left and continue to face the sink | STEP 4: Place the plate into the sink and turn on the faucet, then turn off the faucet and pick up the clean plate | STEP 5: Turn around and cross the room, then hang right and walk to the brown shelf | STEP 6: Place the clean plate on the middle shelf to the right of the clear vase. | END