Task: Move sponge to blue plate, place blue plate on table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          -0.5           0              90             0
   1  Kettle          -0.028         0.107          0.281          0              0              0              66
   2  Kettle          1.007          0.962          0.561          0              270            0              58
   3  Potato          0.306          0.806          -1.552         0              270            0              79
   4  Potato          -2.203         0.982          0.614          0              270            0              89
   5  DishSponge      -0.329         0.069          0.612          0              90             0              85
   6  DishSponge      -2.614         0.951          0.704          0              90             0              89
   7  ButterKnife     0.564          0.912          0.209          0              0              0              55
   8  Spoon           -0.082         0.913          -1.406         0              0              0              56
   9  Spatula         1.724          0.927          0.706          0              270            0              71
  10  Cup             -1.872         1.050          -1.849         0              0              0              86
  11  Plate           -0.096         0.913          0.375          0              0              0              55
  12  Knife           0.035          0.937          0.209          0              0              0              55
  13  SoapBottle      0.455          0.107          -1.509         0              180            0              53
  14  SoapBottle      -2.477         0.950          0.165          0              90             0              89
  15  Tomato          -2.31          1.100          -1.849         0              0              0              86
  16  Tomato          -2.31          0.829          -1.849         0              0              0              86
  17  Bowl            -1.959         0.510          -1.806         0              0              0              86
  18  Bowl            1.608          1.328          -1.809         0              180            0              72
  19  PepperShaker    -1.791         0.948          0.345          0              90             0              89
  20  PepperShaker    -2.203         0.948          0.704          0              90             0              89
  21  Bread           -2.203         1.035          0.255          0              90             0              89
  22  Bread           1.781          0.995          -1.571         0              0              0              56
  23  Lettuce         1.846          1.002          0.540          0              0              0              71
  24  Lettuce         -0.267         1.002          -1.820         0              0              0              56
  25  Mug             1.724          0.907          0.292          0              0              0              71
  26  Apple           -2.340         1.019          0.345          0              90             0              89
  27  Bread           -2.135         1.134          -1.763         0              0              0              86
  28  Knife           -0.267         0.937          -1.406         0              0              0              56
  29  Fork            0.753          0.920          -1.782         0              0              0              54
  30  Bowl            0.753          0.918          -1.649         0              270            0              54
  31  Kettle          1.007          0.962          0.293          0              180            0              68
  32  Cup             0.753          0.917          -1.449         0              270            0              54
  33  Tomato          -2.222         0.829          -1.720         0              0              0              86
  34  SoapBottle      -0.682         0.109          -1.434         0              0              0              70
  35  Plate           1.167          0.913          -1.654         0              0              0              56
  36  Pot             -2.383         0.94           0.583          0              0              0              89
  37  Spatula         0.300          0.927          0.209          0              0              0              55
  38  PaperTowelRoll  -2.203         1.056          0.435          0              90             0              89
  39  Egg             0.412          0.811          -1.552         0              270            0              79
  40  Lettuce         1.535          1.002          -1.489         0              0              0              56
  41  SaltShaker      1.828          1.325          -1.846         0              180            0              72
  42  PepperShaker    0.167          0.908          0.458          0              0              0              55
  43  Apple           -1.928         1.019          0.524          0              90             0              89
  44  ButterKnife     1.785          0.912          0.375          0              0              0              71
  45  Potato          -1.928         0.982          0.255          0              90             0              89
  46  Pan             1.361          0.962          0.561          0              270            0              61
  47  DishSponge      1.907          0.911          0.706          0              0              0              71
  48  Spoon           -0.196         0.775          -1.538         0              90             0              59
  49  Mug             0.621          0.105          0.308          0              0              0              66
  50  Cabinet         -0.193         1.688          -1.648         0              180            0
  51  StoveBurner     1.360          0.957          0.293          0              180            0
  52  Drawer          0.499          0.792          0.296          0              0              0
  53  Cabinet         0.095          0.400          -1.352         0              180            0
  54  Sink            0.711          0.817          -1.772         0              270            0
  55  CounterTop      0.280          0.947          0.458          0              0              0
  56  CounterTop      -0.680         0.947          -1.654         0              0              0
  57  Drawer          1.825          0.792          0.296          0              0              0
  58  StoveBurner     1.007          0.957          0.561          0              270            0
  59  Drawer          -0.150         0.792          -1.496         0              0              0
  60  Drawer          -0.586         0.792          -1.496         0              0              0
  61  StoveBurner     1.360          0.957          0.561          0              270            0
  62  Drawer          0.024          0.792          0.296          0              0              0
  63  Cabinet         1.079          0.400          -1.349         0              180            0
  64  Cabinet         1.669          0.402          0.151          0              0              0
  65  Cabinet         0.055          0.402          -1.351         0              0              0
  66  Cabinet         -0.180         0.402          0.151          0              0              0
  67  Cabinet         0.729          0.402          0.151          0              0              0
  68  StoveBurner     1.007          0.957          0.293          0              180            0
  69  Drawer          -1.100         0.792          -1.496         0              0              0
  70  Cabinet         -0.396         0.402          -1.351         0              0              0
  71  CounterTop      1.776          0.947          0.458          0              0              0
  72  Cabinet         1.974          1.688          -1.648         0              180            0
  73  Cabinet         -0.820         0.400          -1.349         0              180            0
  74  Toaster         0.305          0.900          0.552          0              180            0
  75  LightSwitch     -2.756         1.307          -0.987         0              90             0
  76  Window          0.582          1.613          -1.967         90             0              0
  77  Window          1.969          1.5            -0.615         90             270            0
  78  Microwave       -1.037         0.900          -1.723         0              0              0
  79  SinkBasin       0.377          0.765          -1.655         0              270            0
  80  CoffeeMachine   0.618          0.900          0.600          0              180            0
  81  StoveKnob       1.246          0.913          0.118          45             180            0
  82  StoveKnob       1.373          0.913          0.118          45             180            0
  83  StoveKnob       0.995          0.913          0.118          45             180            0
  84  StoveKnob       1.126          0.913          0.118          45             180            0
  85  GarbageCan      -0.368         -0.029         0.539          0              90             0
  86  Fridge          -2.134         0.0            -1.690         0              0              0
  87  Faucet          0.549          1.046          -1.833         0              232.527        0
  88  Stool           -1.475         0.000          0.414          1.233          280.375        0
  89  DiningTable     -2.255         -0.004         0.432          0              0              0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn around, walk forward towards door, go to table to right of door with loaf of bread | STEP 2: Pick up green sponge in back, left corner of white table | STEP 3: Go to counter to the right toaster | STEP 4: Place sponge on square, blue plate | STEP 5: Pick up blue plate with sponge | STEP 6: Go left to table by door with loaf of bread | STEP 7: Place plate with sponge on center, left side of table | END