Task: Put in the plate with sponge in the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          1.75           0              90             0
   1  Potato          -0.598         0.933          -1.119         0              47.530         0              72
   2  CreditCard      -2.065         0.743          -1.094         0              0              0              67
   3  DishSponge      -2.518         0.114          -0.038         0              0              0              53
   4  DishSponge      -1.159         0.849          -1.25          0              0              0              82
   5  DishSponge      -2.699         0.035          1.466          0              0              0              83
   6  ButterKnife     0.548          1.111          1.479          0              315            0              65
   7  Spoon           -2.521         0.912          0.021          0              0              0              64
   8  Fork            -2.853         0.911          -0.147         0              0              0              64
   9  Fork            -1.933         0.911          -1.115         0              0              0              72
  10  Spatula         -2.438         0.926          -0.062         0              90             0              64
  11  Spatula         0.920          0.926          -1.199         0              0              0              72
  12  Cup             -0.039         1.110          1.844          0              315            0              65
  13  SoapBottle      -1.970         1.663          -1.435         0              0              0              47
  14  Tomato          0.394          1.161          1.325          0              315            0              65
  15  Bowl            0.913          1.110          0.806          0              315            0              65
  16  Bowl            -2.740         0.377          0.771          0              90             0              84
  17  PepperShaker    -2.069         0.112          -1.131         0              0              0              48
  18  SaltShaker      -2.773         1.791          -0.839         0              0              0              43
  19  Bread           -2.800         0.874          0.690          0              90             0              84
  20  Mug             0.920          0.906          -1.449         0              0              0              72
  21  Pan             -2.59          0.9            -1.147         0              0              0              72
  22  Apple           0.284          1.154          1.580          0              0              0              65
  23  Fork            -2.236         0.911          -0.948         0              0              0              72
  24  Kettle          -2.620         0.922          -0.724         0              0              0              63
  25  CreditCard      0.307          0.743          -1.052         0              0              0              73
  26  Bread           -2.800         1.727          0.932          0              90             0              84
  27  Plate           -1.458         0.843          -1.235         0              0              0              82
  28  SoapBottle      0.861          1.663          -1.435         0              0              0              50
  29  Spatula         -1.591         0.866          -1.139         0              270            0              82
  30  Lettuce         -2.660         0.874          0.983          31.046         0              0              84
  31  SaltShaker      0.688          0.907          -1.449         0              0              0              72
  32  Tomato          -2.800         0.427          1.013          0              90             0              84
  33  PepperShaker    0.438          1.658          -1.322         0              0              0              51
  34  ButterKnife     0.836          1.111          0.729          0              315            0              65
  35  Pot             -2.823         0.928          -0.396         0              0              0              71
  36  DishSponge      -0.133         0.910          -1.115         0              0              0              72
  37  Egg             0.136          1.136          1.274          0              0              0              65
  38  Spoon           -2.604         0.912          0.275          0              180            0              64
  39  Knife           0.060          1.106          1.587          270            209.997        0              65
  40  Cup             0.346          1.004          -1.414         0              0              0              85
  41  Mug             1.029          1.145          0.209          0              228.424        0              75
  42  Bowl            -2.740         1.473          1.013          0              90             0              84
  43  Cabinet         -2.647         2.075          -0.875         0              0              0
  44  Cabinet         -2.647         2.075          -0.234         0              0              0
  45  Cabinet         -0.824         0.469          -0.907         0              0              0
  46  Cabinet         -1.764         2.009          -1.197         0              0              0
  47  Cabinet         -1.834         2.009          -1.197         0              0              0
  48  Cabinet         -1.850         0.389          -0.897         0              0              0
  49  Cabinet         -1.801         0.469          -0.907         0              0              0
  50  Cabinet         1.115          2.009          -1.197         0              0              0
  51  Cabinet         0.235          2.009          -1.197         0              0              0
  52  Cabinet         1.125          0.470          -0.897         0              0              0
  53  Cabinet         -2.387         0.389          0.375          0              0              0
  54  Cabinet         0.484          0.389          -0.897         0              0              0
  55  Cabinet         -2.625         2.009          -1.197         0              0              0
  56  Cabinet         -2.647         2.009          -0.945         0              0              0
  57  Cabinet         -2.647         2.200          1.664          0              0              0
  58  Cabinet         -2.647         2.009          0.364          0              0              0
  59  Cabinet         0.164          2.009          -1.197         0              0              0
  60  Cabinet         -0.765         2.009          -1.197         0              0              0
  61  Cabinet         -0.834         2.009          -1.197         0              0              0
  62  Cabinet         -2.647         2.200          0.434          0              0              0
  63  StoveBurner     -2.622         0.886          -0.711         0              0              0
  64  CounterTop      -2.699         0.946          0.106          0              0              0
  65  CounterTop      0.908          1.147          0.788          0              315            0
  66  StoveBurner     -2.622         0.886          -0.396         0              0              0
  67  Drawer          -2.026         0.779          -1.082         0              0              0
  68  Sink            -1.328         0.916          -1.225         0              0              0
  69  StoveBurner     -2.822         0.886          -0.711         0              0              0
  70  Drawer          -2.572         0.779          0.099          0              0              0
  71  StoveBurner     -2.822         0.886          -0.396         0              0              0
  72  CounterTop      0.071          0.946          -1.199         0              0              0
  73  Drawer          0.254          0.779          -1.082         0              0              0
  74  LightSwitch     -1.167         1.307          3.0            0              180            0
  75  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  76  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  78  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  79  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  80  Window          0.321          1.449          3.088          90             0              0
  81  Toaster         -2.823         0.899          0.246          0              90             0
  82  SinkBasin       -1.344         0.838          -1.25          0              0              0
  83  GarbageCan      -2.757         1.886          1.466          0              0              0
  84  Fridge          -2.855         0.0            0.851          0              0              0
  85  Microwave       0.283          0.900          -1.331         0              0              0
  86  Stool           1.541          0.010          1.328          0              45             0
  87  Stool           0.983          0.010          1.793          0              47.459         0
  88  Faucet          -1.392         1.136          -1.399         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Move forward, turn right then head to the counter beside the microwave | STEP 2: Pick up the sponge beside the microwave | STEP 3: Turn right then face left to the sink | STEP 4: Put the sponge on the plate at the sink | STEP 5: Pick up the plate with sponge | STEP 6: Turn right walk forward then left face the last cabinet | STEP 7: Open the last cabinet put in the plate with sponge then close the cabinet | END