Task: Move green sponge from counter to cabinet below

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          1.5            0              0              0
   1  Statue          -0.849         0.920          0.188          0              0              0              70
   2  Statue          -1.063         0.920          0.135          0              0              0              70
   3  Potato          1.419          0.941          -1.760         0              0              0              77
   4  Potato          1.845          0.093          0.166          0              0              0              80
   5  Ladle           -0.645         0.728          0.190          0              270            0              71
   6  ButterKnife     -1.259         0.911          -2.098         0              0              0              77
   7  Kettle          -1.056         0.956          -0.672         0              180            0              49
   8  Pot             -1.289         0.957          -1.02          0              0              0              67
   9  Fork            -0.376         0.763          -2.063         0              90             0              87
  10  Spoon           -1.247         0.914          -0.292         0              0              0              70
  11  Spoon           -0.186         0.696          0.181          0              180            0              76
  12  Egg             -0.203         0.797          -2.118         0              0              0              87
  13  Knife           -1.278         0.937          0.241          0              270            0              70
  14  Bowl            2.000          1.095          -0.458         0              270            0              84
  15  SaltShaker      -0.910         0.907          -1.384         0              0              0              77
  16  SaltShaker      1.644          0.907          -2.267         0              0              0              77
  17  PepperShaker    3.005          0.548          0.245          0              180            0              83
  18  Lettuce         2.000          0.893          -0.644         0              270            0              84
  19  Pan             -1.289         0.957          -0.756         0              180            0              52
  20  Knife           -0.031         0.786          -2.008         0              0              0              87
  21  Bowl            2.798          0.549          0.142          0              180            0              83
  22  Fork            -0.777         0.911          -1.760         0              0              0              77
  23  Cup             0.101          0.750          -1.938         0              0              0              87
  24  Ladle           1.688          0.153          -1.266         0              0              0              51
  25  Apple           -0.598         1.180          0.573          0              0              0              73
  26  Kettle          -0.375         1.132          0.529          0              0              0              73
  27  Vase            -0.619         0.114          -1.918         0              0              0              62
  28  Potato          1.878          1.045          -1.297         0              270            0              82
  29  Pot             -1.056         0.956          -1.127         0              0              0              74
  30  Bread           0.071          1.213          0.573          0              0              0              73
  31  Plate           1.891          1.426          -0.737         0              270            0              84
  32  Spatula         -0.290         0.778          -1.952         0              270            0              87
  33  PaperTowelRoll  3.105          0.984          0.087          0              180            0              81
  34  Vase            -0.822         1.137          0.529          0              0              0              73
  35  Egg             1.924          0.096          0.109          0              0              0              80
  36  SoapBottle      -0.913         0.913          -0.353         0              0              0              70
  37  SaltShaker      1.455          0.113          -1.332         0              0              0              51
  38  Lettuce         1.945          1.175          -0.737         0              270            0              84
  39  PepperShaker    -0.152         1.127          0.485          0              0              0              73
  40  ButterKnife     -0.634         0.913          0.030          0              0              0              70
  41  DishSponge      1.194          0.910          -2.014         0              0              0              77
  42  Vase            -0.650         0.110          0.089          0              180            0              72
  43  Spoon           -0.759         0.695          -1.846         0              90             0              47
  44  Tomato          -0.203         0.812          -1.897         0              0              0              87
  45  Mug             0.501          0.955          -1.900         0              0              0              93
  46  Statue          1.419          0.918          -2.183         0              0              0              77
  47  Drawer          -0.819         0.75           -1.690         0              0              0
  48  Cabinet         -1.149         2.264          -0.838         0              90             0
  49  StoveBurner     -1.056         0.949          -0.671         0              180            0
  50  Cabinet         1.738          2.019          -2.000         0              0              0
  51  Cabinet         1.389          0.469          -1.059         0              0              0
  52  StoveBurner     -1.289         0.949          -0.755         0              180            0
  53  Faucet          -0.157         1.052          -2.196         0              270            0
  54  Cabinet         1.75           2.019          -1.029         0              0              0
  55  Cabinet         1.75           2.019          -1.399         0              0              0
  56  Cabinet         1.179          2.019          -2.0           0              0              0
  57  Cabinet         0.199          2.019          -2.0           0              0              0
  58  Cabinet         -1.100         2.019          -2.0           0              0              0
  59  Cabinet         -1.149         2.019          -1.979         0              0              0
  60  Cabinet         -1.149         2.019          -0.770         0              0              0
  61  Cabinet         -1.149         2.019          0.380          0              0              0
  62  Cabinet         -0.819         0.469          -1.689         0              0              0
  63  Cabinet         -0.839         0.469          -1.664         0              0              0
  64  Cabinet         -0.839         0.469          -0.049         0              0              0
  65  Cabinet         -0.414         0.370          -0.009         0              0              0
  66  Sink            -0.118         0.875          -2.009         0              0              0
  67  StoveBurner     -1.289         0.949          -1.019         0              0              0
  68  Cabinet         0.119          2.264          -2.0           0              0              0
  69  Cabinet         -0.459         2.264          -2.0           0              0              0
  70  CounterTop      -0.665         0.949          0.188          0              0              0
  71  Drawer          -0.449         0.75           -0.010         0              180            0
  72  Cabinet         -0.450         0.469          -0.009         0              0              0
  73  CounterTop      -0.630         1.167          0.573          0              0              0
  74  StoveBurner     -1.056         0.949          -1.126         0              0              0
  75  Cabinet         1.376          0.460          -1.685         0              0              0
  76  Drawer          -0.070         0.75           -0.009         0              180            0
  77  CounterTop      1.159          0.946          -2.013         0              0              0
  78  Cabinet         -1.150         2.264          -1.418         0              90             0
  79  HousePlant      -1.246         1.108          0.606          0              0              0
  80  GarbageCan      1.923          -0.010         0.137          0              0              0
  81  Shelf           2.759          0.880          0.144          0              0              0
  82  Microwave       1.827          0.900          -1.354         0              270            0
  83  Shelf           2.759          0.552          0.145          0              0              0
  84  Fridge          1.975          0.0            -0.537         0              0              0
  85  LightSwitch     0.404          1.297          2.0            0              180            0
  86  Shelf           2.760          0.172          0.145          0              0              0
  87  SinkBasin       -0.129         0.752          -2.007         0              0              0
  88  StoveKnob       -0.873         0.903          -0.827         45             90             0
  89  StoveKnob       -0.873         0.903          -0.676         45             90             0
  90  StoveKnob       -0.873         0.903          -0.966         45             90             0
  91  StoveKnob       -0.873         0.903          -1.123         45             90             0
  92  Toaster         0.840          0.900          -2.057         0              0              0
  93  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  94  ShelvingUnit    2.760          0.006          0.144          0              0              0
  95  Stool           -0.826         0.010          0.908          0              347.513        0
  96  Stool           -0.132         0.010          0.883          0              71.555         0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Go to counter by microwave and coffee maker | STEP 2: Pick up green sponge next to toaster | STEP 3: Go to bottom left cabinet door next to large door with horizontal handle | STEP 4: Open cabinet door, place sponge in cabinet, close door | END