Task: place white plate with green sponge in cabinet under sink

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          -1.75          0              270            0
   1  Vase            -0.912         0.134          -2.503         0              0              0              81
   2  Potato          -1.586         0.941          -2.329         0              0              0              88
   3  CreditCard      0.778          0.139          -2.479         0              0              0              83
   4  CreditCard      2.100          0.550          -2.718         0              180            0              93
   5  Plate           -0.848         0.908          -2.329         0              0              0              88
   6  Cup             -2.114         1.303          1.176          0              90             0              96
   7  Egg             -1.962         0.083          2.076          0              270            0              94
   8  SoapBottle      -1.574         0.912          -1.122         0              0              0              88
   9  SaltShaker      0.079          1.107          -0.001         0              0              0              63
  10  SaltShaker      -1.693         0.907          -2.366         0              0              0              88
  11  PepperShaker    -1.586         0.907          -2.483         0              0              0              88
  12  PepperShaker    1.893          0.549          -2.562         0              180            0              93
  13  Bread           -1.143         0.983          -2.329         0              0              0              88
  14  Bread           0.217          1.184          -0.001         0              0              0              63
  15  Lettuce         -0.473         1.191          0.757          0              0              0              63
  16  Apple           0.079          1.162          -0.253         0              0              0              63
  17  Apple           -2.038         0.591          1.251          0              90             0              96
  18  Knife           -0.059         1.136          0.251          0              0              0              63
  19  Fork            -0.197         1.112          0.504          0              0              0              63
  20  Fork            0.324          0.911          -2.330         0              90             0              65
  21  Spoon           -0.059         1.112          -0.506         0              0              0              63
  22  ButterKnife     -1.963         0.769          -1.501         0              270            0              98
  23  WineBottle      1.119          1.661          -2.527         0              0              0              85
  24  DishSponge      -1.774         0.910          -2.695         0              0              0              88
  25  DishSponge      -1.962         0.047          1.933          0              270            0              94
  26  Bowl            -2.040         1.499          1.176          0              90             0              96
  27  Bowl            -1.296         0.133          -2.453         0              0              0              81
  28  Book            0.155          1.1            0.617          0              315            0              63
  29  Glassbottle     -2.019         0.912          -2.146         0              0              0              88
  30  Knife           0.840          0.936          -2.330         0              180            0              65
  31  Bread           -0.473         1.184          -0.253         0              0              0              63
  32  Fork            1.065          0.481          -2.429         0              90             0              71
  33  Potato          -0.122         1.820          -2.578         0              0              0              89
  34  SoapBottle      -1.143         0.912          -2.637         0              0              0              88
  35  Kettle          0.451          1.661          -2.632         0              0              0              87
  36  Pan             -0.036         0.950          -2.372         0              270            0              58
  37  Plate           -2.120         0.795          0.920          0              90             0              96
  38  Tomato          -1.586         0.950          -2.713         0              0              0              88
  39  Vase            1.478          0.555          -2.459         0              180            0              93
  40  Egg             0.453          0.945          -2.714         0              0              0              65
  41  CreditCard      0.892          0.139          -2.382         0              0              0              83
  42  Statue          1.685          0.551          -2.614         0              0              0              93
  43  WineBottle      0.620          0.141          -2.485         0              0              0              80
  44  Pot             -0.465         0.950          -2.576         0              90             0              72
  45  Spatula         -1.908         0.784          -1.760         0              90             0              98
  46  PaperTowelRoll  1.482          0.985          -2.536         0              270            0              90
  47  Cup             1.993          0.878          -2.536         0              180            0              90
  48  Vase            -1.104         0.134          -2.402         0              0              0              81
  49  Bowl            -2.121         0.537          1.003          0              90             0              96
  50  SaltShaker      -0.197         1.107          0.757          0              0              0              63
  51  PepperShaker    -0.995         0.907          -2.329         0              0              0              88
  52  Lettuce         0.355          1.191          0.251          0              0              0              63
  53  ButterKnife     -1.856         0.911          -2.256         0              0              0              88
  54  Apple           -2.026         1.356          1.260          0              90             0              96
  55  DishSponge      -1.963         0.769          -1.242         0              90             0              98
  56  Spoon           -1.797         0.770          -1.501         0              0              0              98
  57  Mug             -1.512         1.653          -2.641         0              0              0              79
  58  StoveBurner     -0.036         0.915          -2.372         0              0              0
  59  Drawer          0.949          0.832          -2.197         0              0              0
  60  Drawer          -1.560         0.839          0.204          0              90             0
  61  StoveBurner     -0.465         0.915          -2.371         0              180            0
  62  Drawer          -1.560         0.839          -0.197         0              90             0
  63  CounterTop      -0.079         1.147          -0.001         0              0              0
  64  Cabinet         -1.549         0.494          -1.964         0              90             0
  65  CounterTop      0.693          0.946          -2.483         0              0              0
  66  StoveBurner     -0.036         0.915          -2.576         0              0              0
  67  Drawer          0.949          0.393          -2.200         0              0              0
  68  Drawer          0.949          0.708          -2.200         0              0              0
  69  Cabinet         -1.549         0.494          0.379          0              90             0
  70  StoveKnob       -0.022         0.881          -2.187         45             0              0
  71  Drawer          0.949          0.560          -2.201         0              0              0
  72  StoveBurner     -0.465         0.915          -2.575         0              180            0
  73  Window          -2.230         1.429          -1.203         0              0              0
  74  StoveKnob       -0.483         0.881          -2.187         45             0              0
  75  Sink            -1.899         0.964          -1.5           0              90             0
  76  StoveKnob       -0.328         0.881          -2.187         45             0              0
  77  Cabinet         -0.727         2.015          -2.460         0              0              0
  78  Drawer          -1.560         0.655          -0.196         0              90             0
  79  Cabinet         -1.685         2.015          -2.461         0              0              0
  80  Cabinet         0.680          0.494          -2.200         0              0              0
  81  Cabinet         -1.179         0.494          -2.200         0              0              0
  82  Cabinet         -1.849         2.015          0.379          0              90             0
  83  Drawer          0.949          0.221          -2.200         0              0              0
  84  StoveKnob       -0.183         0.881          -2.187         45             0              0
  85  Cabinet         0.719          2.015          -2.460         0              0              0
  86  Drawer          -1.560         0.331          -0.196         0              90             0
  87  Cabinet         0.680          2.015          -2.460         0              0              0
  88  CounterTop      -1.868         0.946          -1.205         0              0              0
  89  Microwave       -0.236         1.689          -2.525         0              0              0
  90  Shelf           1.751          0.880          -2.560         0              0              0
  91  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  92  Toaster         -1.835         0.900          0.134          0              90             0
  93  Shelf           1.750          0.552          -2.559         0              0              0
  94  GarbageCan      -1.935         -0.002         2.029          0              270            0
  95  Shelf           1.750          0.172          -2.559         0              0              0
  96  Fridge          -2.096         0.0            1.088          0              0              0
  97  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  98  SinkBasin       -1.908         0.759          -1.488         0              90             0
  99  LightSwitch     2.329          1.309          -0.159         0              270            0
 100  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 101  Stool           0.702          0.000          -0.514         1.202          65.108         0
 102  Stool           0.743          0.000          0.563          1.227          106.706        0
 103  Faucet          -2.070         1.132          -1.514         0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: go to sink, go right to black bin to the right of refrigerator | STEP 2: pick up green sponge from black bin | STEP 3: go to refrigerator to the left | STEP 4: place green sponge on white plate in refrigerator | STEP 5: pick up white plate with green sponge from top shelf of refrigerator, close refrigerator | STEP 6: turn left, go to cabinet under sink to the right | STEP 7: place white plate with green sponge in cabinet under sink, close cabinet | END