Task: Clean a plate and place it in the fridge.

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          2.25           0              0              0
   1  DishSponge      -2.042         0.094          0.613          0              0              0              53
   2  DishSponge      -2.592         0.487          0.545          0              0              0              64
   3  ButterKnife     -2.388         1.124          0.379          0              0              0              61
   4  ButterKnife     -0.771         1.124          0.478          0              0              0              63
   5  Pot             -2.262         1.129          0.567          0              0              0              61
   6  Spatula         -0.715         1.139          0.206          0              90             0              63
   7  Spatula         -0.662         1.063          2.369          0              180            0              51
   8  Egg             -3.350         0.953          2.298          0              90             0              68
   9  Cup             -3.506         0.909          2.920          0              90             0              68
  10  Plate           -0.883         1.123          0.206          0              0              0              63
  11  SoapBottle      -1.274         0.049          0.381          0              0              0              55
  12  SoapBottle      -3.798         0.113          1.978          0              0              0              72
  13  Bowl            -3.506         1.560          2.849          0              90             0              68
  14  Bowl            -3.373         1.284          3.132          0              90             0              68
  15  Bowl            -1.235         0.047          0.608          0              0              0              55
  16  SaltShaker      -2.135         0.898          0.645          0              0              0              59
  17  Bread           -0.785         1.134          2.144          0              0              0              51
  18  Bread           -0.908         1.133          2.817          0              0              0              51
  19  Lettuce         -0.908         1.124          3.042          0              0              0              51
  20  Mug             -0.662         1.042          2.817          0              0              0              51
  21  Mug             -0.203         1.223          0.377          0              0              0              74
  22  Apple           -2.011         1.192          0.662          0              0              0              61
  23  Apple           -0.715         1.192          0.659          0              0              0              63
  24  Fork            -0.785         1.047          2.817          0              0              0              51
  25  SoapBottle      -3.593         0.113          2.038          0              0              0              72
  26  Pot             -3.475         1.133          0.227          0              90             0              47
  27  Ladle           -2.388         1.164          0.190          0              0              0              61
  28  Potato          -0.603         1.155          0.115          0              0              0              63
  29  Plate           -1.193         0.921          0.403          0              0              0              73
  30  Bread           -0.662         1.134          3.042          0              0              0              51
  31  Lettuce         -2.514         1.202          0.473          0              0              0              61
  32  Spatula         -0.883         1.139          0.387          0              90             0              63
  33  Pan             -3.000         1.133          0.480          0              270            0              56
  34  Egg             -0.785         1.078          1.920          0              0              0              51
  35  Cup             -0.662         1.045          1.920          0              0              0              51
  36  SaltShaker      -1.116         0.045          0.437          0              0              0              55
  37  Knife           -0.415         1.079          2.369          0              90             0              51
  38  Bowl            -1.601         0.046          0.438          0              0              0              66
  39  PepperShaker    -0.908         1.044          2.593          0              0              0              51
  40  ButterKnife     -0.771         1.124          0.296          0              0              0              63
  41  Apple           -0.415         1.295          0.443          0              0              0              74
  42  Tomato          -0.538         1.088          2.817          0              0              0              51
  43  DishSponge      -0.908         1.046          3.266          0              0              0              51
  44  Spoon           -0.771         1.126          0.115          0              180            0              63
  45  Mug             -3.572         1.557          3.061          0              90             0              68
  46  StoveKnob       -3.322         1.053          0.709          45             0              0
  47  StoveBurner     -3.474         1.097          0.227          0              180            0
  48  Sink            -1.394         0.982          0.439          0              0              0
  49  StoveBurner     -3.474         1.097          0.479          0              180            0
  50  StoveKnob       -3.164         1.053          0.709          45             0              0
  51  DiningTable     -0.620         0.017          2.486          0              0              0
  52  Drawer          -2.043         0.608          0.594          0              0              0
  53  Drawer          -2.043         0.216          0.594          0              0              0
  54  Drawer          -2.498         0.216          0.594          0              0              0
  55  Cabinet         -1.001         0.393          0.734          0              0              0
  56  StoveBurner     -3.000         1.097          0.480          0              0              0
  57  StoveKnob       -3.492         1.053          0.709          45             0              0
  58  CounterTop      -3.856         1.160          0.379          0              0              0
  59  Drawer          -2.043         0.937          0.599          0              0              0
  60  Drawer          -2.509         0.937          0.599          0              0              0
  61  CounterTop      -2.280         1.160          0.379          0              0              0
  62  StoveKnob       -2.985         1.053          0.709          45             0              0
  63  CounterTop      -0.514         1.160          0.492          0              0              0
  64  Drawer          -2.498         0.608          0.594          0              0              0
  65  StoveBurner     -3.000         1.097          0.227          0              0              0
  66  Cabinet         -1.733         0.393          0.734          0              0              0
  67  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  68  Fridge          -3.519         0.0            2.717          0              90             0
  69  Window          -1.394         1.924          0.014          90             0              0
  70  Window          -3.266         1.924          0.014          90             0              0
  71  Toaster         -0.225         1.038          2.865          0              270            0
  72  GarbageCan      -3.696         0.002          2.008          0              0              0
  73  SinkBasin       -1.389         0.921          0.428          0              0              0
  74  Microwave       -0.366         1.113          0.430          0              0              0
  75  HousePlant      -2.155         1.101          0.169          0              332.897        0
  76  LightSwitch     -2.584         1.299          3.5            0              180            0
  77  Faucet          -1.393         1.373          0.168          0              270            0
  78  NorthWall
  79  SouthWall
  80  SouthWall

Plan:
STEP 1: Turn to the right, and then right again to find the sink. | STEP 2: Open the bottom right cabinet and take out the plate. | STEP 3: Hold the plate and look up to the sink. | STEP 4: Place the plate in the sink and turn on the water. Turn off the water and then pick up the plate.  | STEP 5: Carry the plate and turn around. Turn left to locate the fridge. | STEP 6: Open the fridge and place the plate inside. Shut the door. | END