Task: Put a plate in the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          1.25           0              90             0
   1  Potato          1.117          0.935          -1.513         0              0              0              64
   2  CellPhone       -0.320         0.923          0.738          0              0              0              72
   3  Ladle           1.658          0.164          0.454          0              270            0              56
   4  DishSponge      1.661          0.225          0.462          0              0              0              58
   5  DishSponge      -1.796         0.040          1.288          0              270            0              78
   6  ButterKnife     1.769          0.582          0.125          0              90             0              49
   7  ButterKnife     0.214          0.925          0.506          0              0              0              72
   8  Spatula         -1.668         0.926          -1.221         0              0              0              64
   9  Cup             -0.106         0.923          0.506          0              0              0              72
  10  Plate           1.962          1.658          -1.053         0              270            0              52
  11  Plate           -0.213         0.924          0.041          0              0              0              72
  12  Bowl            0.214          0.924          0.041          0              0              0              72
  13  Bowl            -0.193         0.113          -1.284         0              0              0              43
  14  SaltShaker      -1.483         1.675          -1.614         0              0              0              66
  15  Bread           -0.320         1.006          0.506          0              0              0              72
  16  Lettuce         0.107          1.002          0.506          0              0              0              72
  17  Apple           -1.634         0.616          -0.269         0              90             0              87
  18  Apple           -1.990         0.964          -0.964         0              0              0              64
  19  SoapBottle      0.321          0.929          0.273          0              0              0              72
  20  Cup             -1.592         1.467          -0.269         0              90             0              87
  21  Pot             1.975          0.938          0.601          0              180            0              59
  22  Fork            1.712          0.461          1.350          0              270            0              62
  23  Ladle           1.662          0.589          1.284          0              0              0              62
  24  Kettle          1.765          0.938          0.819          0              180            0              61
  25  Egg             0.107          0.982          1.202          0              0              0              72
  26  Plate           0.194          0.111          -1.471         0              0              0              53
  27  Pan             -1.668         0.911          -1.707         0              180            0              64
  28  Lettuce         -1.551         0.988          -0.914         0              0              0              64
  29  Spatula         1.815          0.594          0.599          0              0              0              68
  30  Apple           -1.750         1.522          0.295          0              90             0              87
  31  Knife           -1.902         0.933          -0.914         0              270            0              64
  32  SaltShaker      0.214          0.921          0.738          0              0              0              72
  33  PepperShaker    1.234          0.105          -1.542         0              0              0              57
  34  CellPhone       1.802          0.909          -1.318         0              0              0              64
  35  ButterKnife     0.107          0.925          0.041          0              0              0              72
  36  Bread           -0.106         1.006          0.738          0              0              0              72
  37  Tomato          -1.692         0.618          0.201          0              90             0              87
  38  Potato          1.956          1.030          -0.599         0              270            0              85
  39  DishSponge      2.025          0.911          0.025          0              0              0              64
  40  Spoon           1.662          0.226          1.088          0              0              0              73
  41  Mug             2.020          1.001          -0.808         0              0              0              85
  42  Bowl            -1.841         1.660          -1.056         0              90             0              51
  43  Cabinet         -0.495         0.474          -1.149         0              0              0
  44  Window          -0.010         1.582          -1.821         0              0              0
  45  Drawer          0.805          0.475          -1.159         0              0              0
  46  StoveBurner     1.764          0.902          0.601          0              270            0
  47  Drawer          1.5            0.196          -0.019         0              0              0
  48  Drawer          1.5            0.629          -0.018         0              0              0
  49  Drawer          1.5            0.602          -0.019         0              270            0
  50  StoveBurner     1.975          0.902          0.384          0              270            0
  51  Cabinet         -1.703         2.022          -1.453         0              90             0
  52  Cabinet         1.789          2.019          -0.819         0              270            0
  53  Cabinet         0.494          0.474          -1.149         0              0              0
  54  Cabinet         0.409          0.475          0.444          0              0              0
  55  Drawer          -0.696         0.475          -1.159         0              0              0
  56  Drawer          1.5            0.140          0.599          0              270            0
  57  Cabinet         1.389          0.474          -1.149         0              0              0
  58  Drawer          1.5            0.305          0.600          0              0              0
  59  StoveBurner     1.975          0.902          0.601          0              270            0
  60  Drawer          1.5            0.429          -0.019         0              0              0
  61  StoveBurner     1.764          0.902          0.819          0              270            0
  62  Drawer          1.5            0.519          1.220          0              0              0
  63  Cabinet         1.705          2.019          -1.449         0              0              0
  64  CounterTop      0.002          0.947          -1.513         0              0              0
  65  Drawer          1.5            0.629          0.605          0              0              0
  66  Cabinet         -0.627         2.019          -1.449         0              0              0
  67  StoveBurner     1.764          0.902          0.384          0              270            0
  68  Drawer          1.5            0.538          0.600          0              0              0
  69  Sink            0.0            0.893          -1.434         0              0              0
  70  Drawer          1.5            0.782          1.220          0              270            0
  71  Window          2.217          1.565          -0.384         0              0              0
  72  CounterTop      -0.014         0.961          0.505          0              0              0
  73  Drawer          1.5            0.200          1.220          0              0              0
  74  StoveBurner     1.975          0.902          0.819          0              270            0
  75  Window          -3.240         1.616          2.693          0              270            0
  76  Cabinet         -1.389         0.474          -1.149         0              0              0
  77  LightSwitch     -0.153         1.291          3.700          0              180            0
  78  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  79  StoveKnob       1.602          0.917          0.570          0              270            180
  80  StoveKnob       1.602          0.917          0.625          0              270            180
  81  StoveKnob       1.602          0.917          0.739          0              270            180
  82  StoveKnob       1.602          0.917          0.680          0              270            180
  83  StoveKnob       1.602          0.917          0.462          0              270            180
  84  StoveKnob       1.602          0.917          0.517          0              270            180
  85  Microwave       1.932          0.899          -0.766         0              270            0
  86  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  87  Fridge          -1.764         0.0            0.014          0              90             0
  88  SinkBasin       -0.014         0.736          -1.435         0              0              0
  89  Toaster         1.977          0.900          -0.336         0              270            0
  90  Faucet          -0.020         1.137          -1.605         0              270            0
  91  Chair           -9.354         0.000          1.242          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Move to the countertop to the far right of the kitchen sink | STEP 2: Pick up the plate towards the back on top of the counter | STEP 3: Carry the plate to the sink | STEP 4: Place the plate in the sink basin | END