Task: take the dirty pie plate from the table, wash it in the sink, then put it on the counter.

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           0.901          -0.5           0              90             0
   1  Pan             -0.447         0.912          -3.952         0              90             0              41
   2  Potato          -3.111         0.760          -0.652         0              225            0              85
   3  DishSponge      -0.471         0.746          -1.563         0              0              0              64
   4  ButterKnife     -0.338         0.916          -0.507         0              0              0              68
   5  Spatula         -3.167         0.928          -3.729         0              0              0              41
   6  Spoon           -0.530         0.747          -1.331         0              90             0              64
   7  Spoon           -2.797         0.718          -0.162         0              135            0              85
   8  Fork            -0.160         0.914          -2.811         0              0              0              41
   9  Fork            -3.169         0.747          -3.078         0              90             0              63
  10  Cup             -3.027         0.641          -2.187         0              90             0              82
  11  Cup             -3.211         0.714          -0.753         0              225            0              85
  12  Plate           -3.176         1.866          -2.392         0              0              0              50
  13  Plate           -3.130         1.397          -2.125         0              90             0              82
  14  Plate           -3.130         1.397          -1.879         0              90             0              82
  15  Tomato          -2.978         0.763          -0.785         0              225            0              85
  16  Tomato          -3.036         0.935          -2.501         0              90             0              82
  17  SaltShaker      -0.471         0.743          -1.641         0              0              0              64
  18  PepperShaker    -2.865         0.710          -0.621         0              270            0              85
  19  Apple           -2.808         0.956          -3.952         0              0              0              41
  20  Pot             -0.165         0.975          -2.030         0              180            0              72
  21  Egg             -0.095         0.951          -0.542         0              0              0              68
  22  Cup             -0.419         0.916          -1.616         0              0              0              68
  23  Bread           -0.327         0.948          -3.681         0              298.222        0              41
  24  Fork            -3.225         0.914          -2.926         0              0              0              41
  25  Pan             -0.394         0.973          -2.414         0              0              0              66
  26  Potato          -0.500         0.959          -1.432         0              0              0              68
  27  Lettuce         -2.740         0.801          -0.780         0              0              0              85
  28  Tomato          -0.223         0.129          0.012          0              270            0              80
  29  Apple           -3.027         1.056          -2.187         0              90             0              82
  30  SoapBottle      -2.564         0.716          -0.194         0              225            0              85
  31  Spatula         -0.160         0.928          -2.911         0              270            0              41
  32  SaltShaker      -0.257         0.912          -0.524         0              0              0              68
  33  Knife           -0.176         0.948          -1.555         0              0              0              68
  34  PepperShaker    -0.412         0.743          -0.761         0              0              0              67
  35  ButterKnife     -2.934         0.717          -0.829         0              315            0              85
  36  Plate           -2.676         0.715          -0.483         0              225            0              85
  37  DishSponge      -0.496         0.913          -3.112         0              0              0              41
  38  Spoon           -3.477         0.914          -3.227         0              0              0              41
  39  Mug             -2.930         0.762          -0.358         0              135            0              81
  40  Bowl            -0.411         0.079          -3.348         0              0              0              42
  41  CounterTop      -1.789         0.949          -3.803         0              0              0
  42  Cabinet         -0.577         0.388          -3.476         0              0              0
  43  Cabinet         -0.605         0.388          -3.511         0              0              0
  44  Cabinet         -2.976         0.388          -3.201         0              0              0
  45  Cabinet         -0.577         0.388          -0.447         0              0              0
  46  Cabinet         -0.577         0.388          -1.725         0              0              0
  47  Cabinet         -0.226         1.803          -1.743         0              0              0
  48  Cabinet         -0.228         1.799          -0.447         0              0              0
  49  Cabinet         -6.010         1.139          -6.019         0              0              0
  50  Cabinet         -3.022         2.098          -2.681         0              0              0
  51  Cabinet         -3.022         2.098          -1.743         0              0              0
  52  Cabinet         -0.577         0.388          -2.736         0              0              0
  53  Cabinet         -3.232         1.803          -3.343         0              0              0
  54  Cabinet         -2.811         1.810          -3.764         0              0              0
  55  Cabinet         -1.233         1.810          -3.764         0              0              0
  56  Cabinet         -1.364         0.388          -3.511         0              0              0
  57  Cabinet         -1.380         0.388          -3.511         0              0              0
  58  Cabinet         -0.226         1.803          -2.725         0              0              0
  59  Cabinet         -0.236         2.098          -1.767         0              0              0
  60  Cabinet         -0.236         2.098          -2.705         0              0              0
  61  Cabinet         -0.193         1.210          -4.239         0              0              0
  62  Cabinet         -2.148         0.388          -3.511         0              0              0
  63  Drawer          -3.104         0.797          -2.968         0              0              0
  64  Drawer          -0.449         0.797          -1.410         0              0              0
  65  Sink            -1.786         0.902          -3.748         0              0              0
  66  StoveBurner     -0.376         0.936          -2.451         0              0              0
  67  Drawer          -0.449         0.797          -0.762         0              0              0
  68  CounterTop      -0.268         0.951          -1.089         0              0              0
  69  Drawer          -0.449         0.797          -3.348         0              0              0
  70  StoveBurner     -0.376         0.936          -2.031         0              180            0
  71  Drawer          -0.449         0.797          -2.968         0              0              0
  72  StoveBurner     -0.165         0.936          -2.030         0              180            0
  73  StoveBurner     -0.165         0.936          -2.450         0              0              0
  74  StoveKnob       -0.568         0.903          -2.313         45             270            0
  75  StoveKnob       -0.568         0.903          -2.470         45             270            0
  76  StoveKnob       -0.568         0.903          -2.166         45             270            0
  77  StoveKnob       -0.568         0.903          -2.003         45             270            0
  78  Microwave       -0.143         0.903          -0.908         0              270            0
  79  LightSwitch     -1.108         1.457          0.338          0              180            0
  80  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  81  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  82  Fridge          -3.188         0.0            -2.184         0              0              0
  83  SinkBasin       -1.786         0.779          -3.747         0              0              0
  84  Toaster         -0.230         0.903          -3.406         0              270            0
  85  DiningTable     -2.800         0.003          -0.505         0              0              0
  86  Chair           -3.044         0.003          -1.223         0              32.194         0
  87  Faucet          -1.791         1.136          -3.913         0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: go to the round dining table | STEP 2: pick up the pie plate from the table | STEP 3: take the plate to the sink, wash it and remove | STEP 4: take the plate | STEP 5: take a few steps to your left | STEP 6: put the plate on the right side of the sink on the counter | END