Task: To clean the plate.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -1.25          0              90             0
   1  Vase            -1.655         0.133          -1.273         0              90             0              59
   2  CreditCard      0.453          0.907          -2.714         0              0              0              60
   3  CreditCard      1.007          0.139          -2.286         0              0              0              78
   4  Plate           -0.473         1.108          -0.759         0              0              0              58
   5  Plate           0.560          1.656          -2.596         0              0              0              82
   6  Cup             -1.008         0.134          -2.352         0              0              0              76
   7  Tomato          -2.122         1.542          1.343          0              90             0              91
   8  Tomato          0.355          1.150          -0.001         0              0              0              58
   9  SoapBottle      -1.880         0.048          1.981          0              270            0              89
  10  SoapBottle      -1.989         0.048          2.029          0              270            0              89
  11  SaltShaker      0.355          1.107          -0.253         0              0              0              58
  12  SaltShaker      -0.995         0.907          -2.713         0              0              0              83
  13  Lettuce         -0.059         1.191          -0.506         0              0              0              58
  14  Lettuce         0.355          1.191          0.251          0              0              0              58
  15  Fork            1.066          0.316          -2.383         0              0              0              62
  16  Mug             -0.816         0.132          -2.352         0              0              0              76
  17  Pot             -0.036         0.950          -2.576         0              270            0              61
  18  Pot             -0.465         0.950          -2.576         0              90             0              67
  19  ButterKnife     -1.937         0.911          -0.698         0              0              0              83
  20  ButterKnife     -0.197         1.111          0.504          0              0              0              58
  21  DishSponge      -0.995         0.910          -2.406         0              0              0              83
  22  Bowl            -1.567         1.654          -2.567         0              0              0              74
  23  Book            0.155          1.1            0.617          0              315            0              58
  24  Glassbottle     0.279          0.141          -2.485         0              0              0              75
  25  Knife           -1.143         0.936          -2.406         0              0              0              83
  26  Bread           0.217          1.184          -0.506         0              0              0              58
  27  Fork            0.969          0.911          -2.253         0              0              0              60
  28  Potato          -1.907         0.078          1.885          0              270            0              89
  29  SoapBottle      0.286          1.660          -2.667         0              0              0              82
  30  Kettle          -1.705         0.137          -1.856         0              90             0              59
  31  Pan             0.721          0.9            -2.415         0              0              0              60
  32  Plate           -2.026         1.302          1.092          0              90             0              91
  33  Tomato          -1.774         0.950          -2.036         0              0              0              83
  34  Vase            -1.755         0.138          -1.623         0              90             0              59
  35  Egg             -0.335         1.146          0.757          0              0              0              58
  36  CreditCard      -0.197         1.108          0.757          0              0              0              58
  37  Statue          -0.197         1.110          -0.001         0              0              0              58
  38  WineBottle      0.582          0.911          -2.560         0              0              0              60
  39  Pot             -2.038         0.544          1.085          0              90             0              91
  40  Spatula         1.065          0.496          -2.429         0              90             0              66
  41  PaperTowelRoll  0.324          1.014          -2.560         0              0              0              60
  42  Cup             -1.665         0.127          0.112          0              90             0              64
  43  Vase            -0.335         1.109          -0.253         0              0              0              58
  44  Bowl            -1.586         0.908          -2.637         0              0              0              83
  45  SaltShaker      0.393          0.136          -2.239         0              0              0              75
  46  PepperShaker    -1.696         0.150          -0.245         0              90             0              81
  47  Lettuce         -0.059         1.191          -0.759         0              0              0              58
  48  ButterKnife     -1.733         0.911          -2.483         0              0              0              83
  49  Apple           0.324          0.961          -2.253         0              0              0              60
  50  DishSponge      -1.864         0.129          0.248          0              90             0              64
  51  Spoon           -1.693         0.912          -2.256         0              0              0              83
  52  Mug             0.453          0.905          -2.330         0              180            0              60
  53  StoveBurner     -0.036         0.915          -2.372         0              0              0
  54  Drawer          0.949          0.832          -2.197         0              0              0
  55  Drawer          -1.560         0.839          0.204          0              90             0
  56  StoveBurner     -0.465         0.915          -2.371         0              180            0
  57  Drawer          -1.560         0.839          -0.197         0              90             0
  58  CounterTop      -0.079         1.147          -0.001         0              0              0
  59  Cabinet         -1.549         0.494          -1.964         0              90             0
  60  CounterTop      0.693          0.946          -2.483         0              0              0
  61  StoveBurner     -0.036         0.915          -2.576         0              0              0
  62  Drawer          0.949          0.393          -2.200         0              0              0
  63  Drawer          0.949          0.708          -2.200         0              0              0
  64  Cabinet         -1.549         0.494          0.379          0              90             0
  65  StoveKnob       -0.022         0.881          -2.187         45             0              0
  66  Drawer          0.949          0.560          -2.201         0              0              0
  67  StoveBurner     -0.465         0.915          -2.575         0              180            0
  68  Window          -2.230         1.429          -1.203         0              0              0
  69  StoveKnob       -0.483         0.881          -2.187         45             0              0
  70  Sink            -1.899         0.964          -1.5           0              90             0
  71  StoveKnob       -0.328         0.881          -2.187         45             0              0
  72  Cabinet         -0.727         2.015          -2.460         0              0              0
  73  Drawer          -1.560         0.655          -0.196         0              90             0
  74  Cabinet         -1.685         2.015          -2.461         0              0              0
  75  Cabinet         0.680          0.494          -2.200         0              0              0
  76  Cabinet         -1.179         0.494          -2.200         0              0              0
  77  Cabinet         -1.849         2.015          0.379          0              90             0
  78  Drawer          0.949          0.221          -2.200         0              0              0
  79  StoveKnob       -0.183         0.881          -2.187         45             0              0
  80  Cabinet         0.719          2.015          -2.460         0              0              0
  81  Drawer          -1.560         0.331          -0.196         0              90             0
  82  Cabinet         0.680          2.015          -2.460         0              0              0
  83  CounterTop      -1.868         0.946          -1.205         0              0              0
  84  Microwave       -0.236         1.689          -2.525         0              0              0
  85  Shelf           1.751          0.880          -2.560         0              0              0
  86  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  87  Toaster         -1.835         0.900          0.134          0              90             0
  88  Shelf           1.750          0.552          -2.559         0              0              0
  89  GarbageCan      -1.935         -0.002         2.029          0              270            0
  90  Shelf           1.750          0.172          -2.559         0              0              0
  91  Fridge          -2.096         0.0            1.088          0              0              0
  92  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  93  SinkBasin       -1.908         0.759          -1.488         0              90             0
  94  LightSwitch     2.329          1.309          -0.159         0              270            0
  95  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  96  Stool           0.702          0.000          -0.514         1.202          65.108         0
  97  Stool           0.743          0.000          0.563          1.227          106.706        0
  98  Faucet          -2.070         1.132          -1.514         0              0              0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn to the left.  | STEP 2: Take the dirty plate off the edge of the table.  | STEP 3: Turn to the left and walk across the room to the sink.  | STEP 4: Put the plate in the sink and turn the water on, then fill up the sink before turning it off and taking the plate out of the sink.  | STEP 5: Turn around and walk across the room, then turn right.  | STEP 6: Put the plate on the second shelf from the bottom.  | END