Adjust to a default pose, pick up the plate, hold it for 7 seconds, then put it in the sink.
###Human:
generate CIL (high level robotic commands) for the prompt Adjust to a default pose, pick up the plate, hold it for 7 seconds, then put it in the sink.

###assistant:
P:default_pose; Mp:#default_pose; Mo:plate; G:1; T:7; Mz:sink; G:0;