Task: Put a clean plate on the counter.

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          1.25           0              90             0
   1  Vase            1.148          1.667          -2.029         0              270            0              54
   2  Potato          1.026          1.165          1.540          0              270            0              78
   3  Potato          0.783          1.165          0.967          0              270            0              78
   4  CreditCard      0.773          0.908          -0.555         0              0              0              56
   5  CellPhone       -1.881         0.550          2.822          0              0              0              81
   6  DishSponge      0.834          0.494          -0.648         0              270            0              59
   7  DishSponge      0.859          0.910          -1.879         0              0              0              61
   8  ButterKnife     -0.772         0.933          0.009          0              90             0              55
   9  Glassbottle     1.147          1.667          0.089          0              270            0              63
  10  Fork            -0.772         0.934          -1.308         0              0              0              55
  11  Spatula         0.944          0.926          -0.555         0              180            0              56
  12  Egg             -0.865         0.214          0.608          0              180            0              75
  13  Egg             1.029          0.949          -1.793         0              0              0              61
  14  Plate           0.773          0.914          -0.729         0              0              0              56
  15  Plate           -1.363         0.557          2.718          0              0              0              81
  16  Plate           1.169          2.211          -1.191         0              270            0              62
  17  SoapBottle      -0.920         0.933          0.162          0              0              0              55
  18  Bowl            -1.167         0.936          -0.118         0              0              0              55
  19  Bowl            1.026          1.405          1.158          0              270            0              78
  20  Apple           0.966          0.913          1.063          0              270            0              78
  21  Statue          -0.698         0.936          -1.463         0              0              0              55
  22  Glassbottle     0.688          0.912          -1.793         0              0              0              61
  23  Bread           1.029          0.992          -0.208         0              0              0              56
  24  CreditCard      0.688          0.908          -0.208         0              0              0              56
  25  CellPhone       1.199          0.908          0.139          0              0              0              56
  26  Potato          0.783          1.673          0.967          0              270            0              78
  27  Knife           0.868          0.700          -0.600         90             315            0              53
  28  Fork            0.793          0.154          -0.690         0              180            0              58
  29  Pan             0.848          0.946          -1.080         0              0              0              49
  30  Lettuce         0.944          0.988          0.139          0              0              0              56
  31  Plate           1.102          1.669          -0.465         0              270            0              64
  32  Apple           1.093          1.845          -1.132         0              270            0              77
  33  Pot             1.077          0.950          -1.504         0              0              0              51
  34  Spatula         -0.698         0.948          -0.143         0              0              0              55
  35  PaperTowelRoll  -0.960         0.281          0.510          0              180            0              75
  36  Tomato          0.859          0.952          -0.208         0              0              0              56
  37  Egg             1.060          1.821          -1.288         0              270            0              77
  38  SaltShaker      0.956          0.698          -0.648         0              270            0              53
  39  PepperShaker    0.914          0.150          -0.571         0              270            0              58
  40  Vase            -1.469         0.881          2.746          0              0              0              82
  41  ButterKnife     -0.624         0.933          0.009          0              0              0              55
  42  SoapBottle      1.193          1.666          0.216          0              270            0              63
  43  Vase            0.861          0.109          -2.052         0              0              0              60
  44  Bowl            1.212          2.211          -1.626         0              270            0              62
  45  DishSponge      -1.054         0.176          0.608          0              180            0              75
  46  Spoon           -1.355         0.934          -0.905         0              0              0              55
  47  Cup             1.087          1.640          0.967          0              270            0              78
  48  Mug             0.773          0.906          0.139          0              0              0              56
  49  StoveBurner     0.842          0.919          -1.098         0              0              0
  50  Cabinet         0.648          0.474          0.244          0              270            0
  51  StoveBurner     1.077          0.919          -1.504         0              0              0
  52  StoveBurner     0.842          0.919          -1.504         0              0              0
  53  Drawer          0.637          0.755          -0.649         0              270            0
  54  Cabinet         0.949          2.159          -2.375         0              270            0
  55  CounterTop      -1.238         0.968          -0.643         0              0              0
  56  CounterTop      0.931          0.946          -0.208         0              0              0
  57  StoveBurner     1.077          0.919          -1.098         0              0              0
  58  Drawer          0.637          0.268          -0.649         0              270            0
  59  Drawer          0.637          0.547          -0.649         0              270            0
  60  Cabinet         0.648          0.475          -1.714         0              0              0
  61  CounterTop      0.931          0.946          -2.051         0              0              0
  62  Cabinet         0.948          2.439          -1.780         0              270            0
  63  Cabinet         0.948          2.159          -0.140         0              270            0
  64  Cabinet         0.949          2.159          -0.758         0              270            0
  65  Sink            -0.699         0.927          -0.649         0              0              0
  66  LightSwitch     -2.371         1.218          3.049          0              180            0
  67  StoveKnob       0.673          0.899          -1.373         315            90             180
  68  StoveKnob       0.673          0.899          -1.519         315            90             180
  69  StoveKnob       0.673          0.899          -1.086         315            90             180
  70  StoveKnob       0.673          0.899          -1.237         315            90             180
  71  Toaster         0.984          0.900          0.329          0              270            0
  72  Window          0.014          0.998          -2.640         90             0              0
  73  Window          -2.996         0.998          -2.640         90             0              0
  74  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  75  GarbageCan      -0.946         -0.036         0.575          0              180            0
  76  SinkBasin       -0.698         0.765          -0.647         0              90             0
  77  Microwave       1.042          1.680          -1.295         0              270            0
  78  Fridge          0.966          0.0            1.253          0              0              0
  79  HousePlant      -1.354         0.919          -1.540         0              0              0
  80  Shelf           -1.635         0.172          2.715          0              180            0
  81  Shelf           -1.635         0.552          2.715          0              180            0
  82  Shelf           -1.635         0.880          2.715          0              180            0
  83  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  84  Chair           -1.832         0.002          -0.034         0              119.999        0
  85  Chair           -1.854         0.002          -0.956         0              67.887         0
  86  Faucet          -0.867         1.161          -0.651         0              0              0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn right and go to the counter, to the left of the stove. | STEP 2: Pick up the plate on the counter. | STEP 3: Turn around and go to the sink. | STEP 4: Clean the plate in the sink. | STEP 5: Turn around and go to the counter above the dishwasher. | STEP 6: Put the plate on the counter. | END