Task: put a plate and glass jug into the kitchen sink basin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -1.0           0              0              0
   1  Pan             1.126          2.205          -1.517         0              180            0              70
   2  Vase            -1.571         0.882          2.719          0              0              0              90
   3  Potato          0.905          1.165          1.444          0              270            0              86
   4  Potato          -0.808         0.811          -0.486         0              90             0              84
   5  CreditCard      -1.778         0.551          2.718          0              0              0              89
   6  CellPhone       1.199          0.908          -0.729         0              0              0              64
   7  CellPhone       -1.292         0.930          -0.118         0              0              0              63
   8  Glassbottle     0.811          0.109          -2.292         0              0              0              68
   9  Glassbottle     1.194          1.667          -2.029         0              270            0              62
  10  Spoon           0.794          0.495          -0.648         0              270            0              67
  11  Spoon           0.794          0.703          -0.690         0              270            0              61
  12  Knife           -0.772         0.957          -1.540         0              0              0              63
  13  Knife           0.773          0.934          -1.879         0              270            0              69
  14  Egg             0.944          0.949          -1.793         0              0              0              69
  15  Cup             1.199          0.908          -0.208         0              0              0              64
  16  Cup             0.783          1.399          1.254          0              270            0              86
  17  Plate           1.147          1.669          0.089          0              270            0              71
  18  Plate           0.811          0.111          -1.892         0              0              0              68
  19  Tomato          -1.054         0.219          0.608          0              180            0              83
  20  SoapBottle      -0.912         0.179          0.576          0              180            0              83
  21  Bowl            -0.550         0.936          -1.231         0              0              0              63
  22  Bowl            0.844          1.405          1.063          0              270            0              86
  23  SaltShaker      -1.467         0.550          2.615          0              0              0              89
  24  Lettuce         1.114          0.988          -0.381         0              0              0              64
  25  Bread           0.859          0.992          -0.381         0              0              0              64
  26  Bread           -1.292         1.014          -0.905         0              0              0              63
  27  Mug             1.101          1.661          -1.893         0              270            0              62
  28  Apple           0.944          0.961          -0.034         0              0              0              64
  29  Statue          -1.355         0.936          0.144          0              0              0              63
  30  Glassbottle     -0.587         0.781          -0.659         0              90             0              84
  31  Bread           0.773          0.992          0.139          0              0              0              64
  32  CreditCard      1.029          0.908          -0.555         0              0              0              64
  33  CellPhone       1.029          0.908          -0.729         0              0              0              64
  34  Potato          0.859          0.941          -0.729         0              0              0              64
  35  Knife           -0.550         0.957          0.162          0              90             0              63
  36  Fork            0.875          0.702          -0.565         0              0              0              61
  37  Pan             0.848          0.946          -1.080         0              0              0              57
  38  Lettuce         0.867          1.688          1.209          9.750          11.009         358.514        86
  39  Plate           1.102          1.669          -0.593         0              270            0              72
  40  Apple           0.844          0.913          1.254          0              270            0              86
  41  Pot             1.077          0.950          -1.504         0              0              0              59
  42  Spatula         -1.104         0.948          -0.118         0              0              0              63
  43  PaperTowelRoll  -0.818         0.281          0.608          0              270            0              83
  44  Tomato          0.688          0.952          -1.965         0              0              0              69
  45  Egg             1.087          1.439          1.540          0              270            0              86
  46  SaltShaker      0.834          0.491          -0.565         0              270            0              67
  47  PepperShaker    0.875          0.490          -0.772         0              270            0              67
  48  Vase            -0.772         0.933          -1.386         0              0              0              63
  49  ButterKnife     1.114          0.911          -0.729         0              0              0              64
  50  SoapBottle      -0.624         0.933          0.086          0              0              0              63
  51  Vase            -1.104         0.934          0.144          0              0              0              63
  52  Bowl            -1.363         0.557          2.770          0              0              0              89
  53  DishSponge      1.082          2.207          -1.082         0              270            0              70
  54  Spoon           -0.753         0.777          -0.832         0              180            0              84
  55  Cup             0.966          0.860          1.254          0              270            0              86
  56  Mug             0.965          1.396          1.444          0              270            0              86
  57  StoveBurner     0.842          0.919          -1.098         0              0              0
  58  Cabinet         0.648          0.474          0.244          0              270            0
  59  StoveBurner     1.077          0.919          -1.504         0              0              0
  60  StoveBurner     0.842          0.919          -1.504         0              0              0
  61  Drawer          0.637          0.755          -0.649         0              270            0
  62  Cabinet         0.949          2.159          -2.375         0              270            0
  63  CounterTop      -1.238         0.968          -0.643         0              0              0
  64  CounterTop      0.931          0.946          -0.208         0              0              0
  65  StoveBurner     1.077          0.919          -1.098         0              0              0
  66  Drawer          0.637          0.268          -0.649         0              270            0
  67  Drawer          0.637          0.547          -0.649         0              270            0
  68  Cabinet         0.648          0.475          -1.714         0              0              0
  69  CounterTop      0.931          0.946          -2.051         0              0              0
  70  Cabinet         0.948          2.439          -1.780         0              270            0
  71  Cabinet         0.948          2.159          -0.140         0              270            0
  72  Cabinet         0.949          2.159          -0.758         0              270            0
  73  Sink            -0.699         0.927          -0.649         0              0              0
  74  LightSwitch     -2.371         1.218          3.049          0              180            0
  75  StoveKnob       0.673          0.899          -1.373         315            90             180
  76  StoveKnob       0.673          0.899          -1.519         315            90             180
  77  StoveKnob       0.673          0.899          -1.086         315            90             180
  78  StoveKnob       0.673          0.899          -1.237         315            90             180
  79  Toaster         0.984          0.900          0.329          0              270            0
  80  Window          0.014          0.998          -2.640         90             0              0
  81  Window          -2.996         0.998          -2.640         90             0              0
  82  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  83  GarbageCan      -0.946         -0.036         0.575          0              180            0
  84  SinkBasin       -0.698         0.765          -0.647         0              90             0
  85  Microwave       1.042          1.680          -1.295         0              270            0
  86  Fridge          0.966          0.0            1.253          0              0              0
  87  HousePlant      -1.354         0.919          -1.540         0              0              0
  88  Shelf           -1.635         0.172          2.715          0              180            0
  89  Shelf           -1.635         0.552          2.715          0              180            0
  90  Shelf           -1.635         0.880          2.715          0              180            0
  91  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  92  Chair           -1.832         0.002          -0.034         0              119.999        0
  93  Chair           -1.854         0.002          -0.956         0              67.887         0
  94  Faucet          -0.867         1.161          -0.651         0              0              0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: turn to face kitchen sink | STEP 2: pick up glass jug from kitchen sink | STEP 3: turn around to face the counter opposite the sink between the fridge and stove | STEP 4: open the cabinet above the counter, place the glass on the plate inside | STEP 5: pick up the plate from the cabinet | STEP 6: turn around to face the sink | STEP 7: place the plate inside the sink basin | END