Task: put the plate in the cupboard

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          -1.75          0              0              0
   1  Pan             -0.222         0.961          -2.243         0              0              0              64
   2  Potato          -3.163         0.926          -0.290         0              270            0              82
   3  Potato          -0.293         1.318          -0.762         0              270            0              75
   4  DishSponge      -3.163         0.894          -0.204         0              270            0              82
   5  DishSponge      -3.329         0.759          -3.421         0              109.125        0              81
   6  ButterKnife     -3.364         0.894          -0.548         0              0              0              82
   7  Fork            -4.182         0.691          -0.308         0              90             0              80
   8  Spatula         -2.359         0.909          -0.376         0              90             0              82
   9  Egg             -0.283         1.529          -0.646         0              270            0              75
  10  Egg             -0.207         1.529          -0.994         0              270            0              75
  11  Cup             -0.212         1.503          -1.409         0              0              0              56
  12  Cup             -0.283         1.489          -0.529         0              270            0              75
  13  Knife           -3.780         0.785          -3.591         0              199.125        0              81
  14  SoapBottle      -0.078         0.939          -1.319         0              270            0              63
  15  SoapBottle      -1.694         0.940          -3.595         0              0              0              45
  16  Bowl            -0.417         1.284          -0.413         0              270            0              75
  17  Bread           -3.952         0.841          -3.342         0              244.125        0              81
  18  Bread           -3.364         0.976          -0.462         0              270            0              82
  19  SaltShaker      -0.473         0.937          -1.406         0              0              0              63
  20  SaltShaker      -1.185         0.750          -3.476         0              0              0              51
  21  PepperShaker    -4.122         0.686          -0.491         0              0              0              80
  22  Mug             -0.268         1.570          -2.096         0              180            0              77
  23  Apple           -2.761         0.956          -0.633         0              270            0              82
  24  SoapBottle      -3.494         0.758          -3.527         0              199.125        0              81
  25  Pot             -0.437         0.961          -1.845         0              180            0              46
  26  Fork            -0.465         0.747          -1.413         0              270            0              49
  27  Cup             -0.244         0.943          -2.611         0              0              0              45
  28  Tomato          -2.452         0.150          -3.505         0              0              0              70
  29  Pan             -2.761         0.892          -0.204         0              0              0              82
  30  Plate           -0.547         0.827          -3.318         0              315            0              74
  31  Bread           -3.369         0.841          -3.129         0              244.125        0              81
  32  Spatula         -0.543         0.766          -2.632         0              270            0              50
  33  Knife           -2.560         0.920          -0.376         0              270            0              82
  34  SaltShaker      -0.207         0.938          -2.931         0              45             0              45
  35  PepperShaker    -4.242         0.686          -0.309         0              0              0              80
  36  ButterKnife     -0.473         0.941          -1.581         0              0              0              63
  37  Apple           -2.354         0.161          -3.604         0              0              0              70
  38  DishSponge      -3.942         0.690          -0.187         0              0              0              80
  39  Potato          -2.962         0.926          -0.633         0              270            0              82
  40  Egg             -4.122         0.732          -0.126         0              0              0              80
  41  Spoon           -4.059         0.761          -3.168         0              109.125        0              81
  42  Lettuce         -3.224         0.851          -3.590         0              109.125        0              81
  43  Mug             -0.134         1.574          -1.884         0              0              0              77
  44  Bowl            -4.002         0.689          -0.308         0              0              0              80
  45  CounterTop      -1.937         0.977          -3.673         0              0              0
  46  StoveBurner     -0.437         0.924          -1.845         0              180            0
  47  StoveBurner     -0.222         0.924          -1.845         0              180            0
  48  StoveBurner     -0.437         0.924          -2.243         0              0              0
  49  Drawer          -0.500         0.779          -1.450         0              0              0
  50  Drawer          -0.481         0.777          -2.739         0              0              0
  51  Drawer          -1.154         0.782          -3.499         0              0              0
  52  Cabinet         -0.337         2.110          -0.390         0              0              0
  53  Cabinet         -0.337         2.110          -1.272         0              0              0
  54  Cabinet         -0.337         2.110          -1.631         0              0              0
  55  Cabinet         -0.337         2.110          -2.497         0              0              0
  56  Cabinet         -0.337         1.891          -1.286         0              0              0
  57  Cabinet         -0.346         1.891          -3.293         0              0              0
  58  Cabinet         -0.629         0.388          -2.513         0              0              0
  59  Cabinet         -0.633         0.388          -3.008         0              0              0
  60  Cabinet         -1.010         0.388          -3.368         0              0              0
  61  Cabinet         -0.629         0.388          -1.614         0              0              0
  62  Cabinet         -0.327         1.886          -2.513         0              0              0
  63  CounterTop      -0.326         0.976          -1.450         0              0              0
  64  StoveBurner     -0.222         0.924          -2.243         0              0              0
  65  Sink            -0.600         0.929          -3.388         0              0              0
  66  StoveKnob       -0.617         0.899          -1.833         315            90             180
  67  StoveKnob       -0.617         0.899          -2.129         315            90             180
  68  StoveKnob       -0.617         0.899          -2.289         315            90             180
  69  StoveKnob       -0.617         0.899          -1.975         315            90             180
  70  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  71  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  72  Window          -1.389         1.610          -4.113         90             0              0
  73  LightSwitch     -4.372         1.493          -1.031         0              90             0
  74  SinkBasin       -0.614         0.802          -3.384         0              315            0
  75  Fridge          -0.314         0.0            -0.646         0              0              0
  76  Toaster         -1.970         0.930          -3.763         0              0              0
  77  Microwave       -0.216         1.470          -2.054         0              270            0
  78  Blinds          -1.373         2.205          -3.961         0              0              0
  79  Faucet          -0.393         0.930          -3.614         270            225            0
  80  SideTable       -4.030         0.002          -0.301         0              185.034        0
  81  DiningTable     -3.586         0.000          -3.258         0              0              0
  82  DiningTable     -3.224         -0.003         -0.453         0              0              0
  83  Shelf           -4.030         0.259          -0.301         0              185.034        0
  84  Shelf           -4.030         0.489          -0.301         0              185.034        0
  85  EastWall
  86  EastWall
  87  SouthWall

Plan:
STEP 1: turn to the left walk forward turn to the right  | STEP 2: pick up the sponge on the table  | STEP 3: turn to the right walk forward turn to the right walk forward  | STEP 4: put the sponge in the sink on the plate  | STEP 5: pick up the plate with the sponge  | STEP 6: turn to the left turn to the left turn to the right walk forward turn to the right  | STEP 7: put the plate in the cupboard with the sponge   | END