Task: wash the plate and put it away

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          0.25           0              180            0
   1  Ladle           1.218          0.163          -1.860         0              0              0              55
   2  DishSponge      -0.160         0.930          1.448          0              0              0              80
   3  ButterKnife     0.408          0.926          1.220          0              0              0              80
   4  Spatula         0.689          0.928          -2.085         0              0              0              63
   5  Spoon           0.457          0.914          -2.002         0              0              0              63
   6  Fork            1.828          0.914          -1.329         0              0              0              63
   7  Egg             2.001          0.140          0.044          0              0              0              64
   8  Egg             -1.438         0.913          -0.806         0              90             0              71
   9  Plate           1.690          0.123          -1.332         0              270            0              57
  10  Plate           -0.047         0.930          0.991          0              0              0              80
  11  Knife           1.153          0.936          -2.002         0              0              0              63
  12  Knife           1.850          0.936          -1.751         0              0              0              63
  13  SoapBottle      -0.047         0.925          0.534          0              0              0              80
  14  SoapBottle      1.255          0.551          2.534          0              0              0              83
  15  Lettuce         -0.047         1.011          0.305          0              0              0              80
  16  SaltShaker      -0.463         0.909          -1.725         0              0              0              63
  17  SaltShaker      0.180          0.926          1.448          0              0              0              80
  18  Mug             -0.697         0.106          -1.829         0              0              0              56
  19  Apple           0.180          1.001          0.305          0              0              0              80
  20  Apple           0.180          0.997          0.991          0              0              0              80
  21  Apple           -1.495         1.254          -0.910         0              90             0              71
  22  Potato          0.180          0.956          0.534          0              0              0              80
  23  Bowl            1.913          1.654          -1.240         0              270            0              54
  24  SoapBottle      1.919          0.912          -1.797         0              0              0              63
  25  Fork            0.522          0.927          0.762          0              0              0              80
  26  Ladle           -1.028         0.170          -1.501         0              90             0              58
  27  Bread           0.399          0.964          0.110          0              0              1.601          80
  28  Lettuce         0.180          1.008          1.220          0              0              0              80
  29  WineBottle      -0.160         0.931          1.220          0              0              0              80
  30  Spatula         0.002          0.928          -1.737         0              0              0              63
  31  Plate           1.462          0.556          2.482          0              0              0              83
  32  SaltShaker      0.066          0.926          0.762          0              0              0              80
  33  Pot             1.567          0.948          -0.757         0              0              0              45
  34  Cup             -0.824         0.913          -2.233         0              0              0              63
  35  PepperShaker    -1.355         1.655          -1.854         0              90             0              46
  36  Pan             1.824          0.945          -0.346         0              0              0              44
  37  ButterKnife     -0.791         0.9            -2.186         0              164.999        0              63
  38  Tomato          -1.380         0.911          -0.495         0              90             0              71
  39  DishSponge      -1.072         0.913          -2.188         0              0              0              63
  40  Egg             -1.252         1.069          -1.846         0              90             0              69
  41  Spoon           0.522          0.931          0.991          0              0              0              80
  42  Knife           -0.230         0.936          -1.713         0              0              0              63
  43  Mug             1.261          0.951          -1.934         0              0              0              73
  44  StoveBurner     1.845          0.940          -0.355         0              0              0
  45  StoveBurner     1.567          0.940          -0.757         0              0              0
  46  Cabinet         -1.149         2.019          -1.979         0              90             0
  47  Cabinet         -1.149         2.265          -0.834         0              90             0
  48  Cabinet         -0.459         2.265          -2.0           0              0              0
  49  Cabinet         -1.100         2.019          -2.0           0              0              0
  50  Cabinet         1.719          2.019          -2.0           0              0              0
  51  Cabinet         1.179          2.019          -2.0           0              0              0
  52  Cabinet         0.199          2.019          -2.0           0              0              0
  53  Cabinet         1.75           2.019          -1.399         0              270            0
  54  Cabinet         1.75           2.019          -1.029         0              270            0
  55  Cabinet         1.379          0.469          -1.689         0              0              0
  56  Cabinet         -0.819         0.469          -1.689         0              0              0
  57  Cabinet         1.389          0.469          -1.059         0              270            0
  58  Cabinet         -0.839         0.469          -1.665         0              90             0
  59  StoveBurner     1.567          0.940          -0.355         0              0              0
  60  StoveBurner     1.845          0.940          -0.757         0              0              0
  61  Sink            -0.109         0.893          -2.009         0              0              0
  62  Drawer          -0.819         0.75           -1.690         0              0              0
  63  CounterTop      0.232          0.949          -2.002         0              0              0
  64  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  65  Vase            0.251          0.546          0.475          0              270            0
  66  Toaster         0.780          0.900          -2.080         0              0              0
  67  LightSwitch     0.108          1.315          2.75           0              180            0
  68  Vase            0.400          0.925          0.218          0              180            0
  69  Microwave       -1.233         0.900          -1.680         0              90             0
  70  Vase            1.465          1.662          -2.200         0              0              0
  71  Fridge          -1.495         0.0            -0.703         0              0              0
  72  Window          2.114          1.495          1.072          90             270            0
  73  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  74  Vase            0.333          0.546          1.272          0              270            0
  75  SinkBasin       -0.148         0.753          -2.026         0              0              0
  76  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  80  DiningTable     0.170          0.005          0.678          0              270            0
  81  Shelf           0.170          0.155          0.678          0              270            0
  82  Shelf           1.605          0.172          2.480          0              0              0
  83  Shelf           1.605          0.552          2.480          0              0              0
  84  Shelf           1.604          0.880          2.479          0              0              0
  85  ShelvingUnit    1.605          0.006          2.480          0              0              0
  86  Faucet          -0.143         1.028          -2.223         0              270            0
  87  Stool           -0.553         0.000          0.871          1.233          280.376        0
  88  Shelf           0.170          0.528          0.678          0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: walk around to the other side of the counter  | STEP 2: pick up the plate sitting on the counter | STEP 3: turn right and cross the kitchen to the sink | STEP 4: put the plate in the sink and wash the plate and then pick it up from the sink | STEP 5: turn around and cross the kitchen to the shelves against the wall | STEP 6: place the plate on the second shelf | END