Task: Put a plate with a sponge on it on the table.

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           0.914          2.5            0              90             0
   1  Pan             -0.206         0.985          3.926          0              180            0              69
   2  Potato          -1.608         0.947          4.146          0              0              0              43
   3  Potato          -2.402         0.947          4.106          0              0              0              43
   4  Fork            -3.463         0.916          3.663          0              90             0              43
   5  Pot             -3.424         0.966          1.971          0              0              0              51
   6  Egg             -1.919         0.950          4.188          0              0              0              43
   7  Egg             -0.089         0.758          3.869          0              180            0              69
   8  Cup             -1.921         0.789          3.662          0              0              0              73
   9  Cup             -3.508         1.458          1.378          0              0              0              61
  10  Plate           -2.410         0.084          3.625          0              0              0              54
  11  Knife           -2.402         0.939          3.998          0              0              0              43
  12  Tomato          -0.790         1.054          3.926          0              180            0              69
  13  Tomato          -3.081         0.984          1.524          0              0              0              52
  14  SaltShaker      -2.126         0.911          4.231          0              0              0              43
  15  PepperShaker    -3.426         1.991          2.595          0              0              0              58
  16  Lettuce         -3.176         1.001          2.844          0              0              0              43
  17  Bread           -3.559         0.997          1.357          0              0              0              52
  18  Apple           -3.463         0.975          1.189          0              0              0              52
  19  Apple           -3.473         1.606          2.068          0              90             0              74
  20  Egg             -1.449         0.950          3.783          0              0              0              43
  21  Knife           -3.155         0.769          1.202          0              90             0              44
  22  Fork            -3.214         0.745          1.279          0              90             0              44
  23  Bread           -1.192         0.169          3.820          0              270            0              75
  24  Potato          -0.206         0.755          3.843          0              180            0              69
  25  Plate           -3.006         0.904          3.677          0              0              0              43
  26  Pot             -3.424         0.966          2.374          0              0              0              49
  27  Kettle          -3.145         0.069          2.920          0              270            0              56
  28  WineBottle      -3.654         0.916          1.106          0              0              0              52
  29  Bowl            -1.707         0.079          3.625          0              0              0              48
  30  Tomato          -3.272         0.984          1.524          0              0              0              52
  31  Cup             -0.673         1.273          4.097          0              180            0              69
  32  Spatula         -3.081         0.930          1.273          0              0              0              52
  33  SoapBottle      -3.459         1.995          2.363          0              0              0              58
  34  Lettuce         -1.759         0.974          0.085          0              0              0              79
  35  Pan             -2.614         0.902          3.620          0              0              0              43
  36  Apple           -3.368         0.975          3.663          0              0              0              43
  37  SaltShaker      -3.068         0.743          3.083          0              0              0              45
  38  PepperShaker    -3.270         0.079          1.434          0              0              0              62
  39  ButterKnife     -3.559         0.915          2.844          0              0              0              43
  40  DishSponge      -3.654         0.915          1.607          0              0              0              52
  41  Spoon           -3.368         0.916          1.357          0              0              0              52
  42  Mug             -3.424         0.945          3.275          0              90             0              43
  43  CounterTop      -3.381         0.950          3.335          0              0              0
  44  Drawer          -3.121         0.775          1.357          0              0              0
  45  Drawer          -3.121         0.777          2.916          0              0              0
  46  StoveBurner     -3.148         0.958          2.374          0              0              0
  47  Sink            -1.797         0.917          3.660          0              0              0
  48  Cabinet         -1.421         0.388          3.459          0              0              0
  49  StoveBurner     -3.424         0.958          2.374          0              0              0
  50  Cabinet         -3.365         1.931          2.676          0              0              0
  51  StoveBurner     -3.424         0.958          1.971          0              0              0
  52  CounterTop      -3.381         0.951          1.356          0              0              0
  53  Drawer          -3.121         0.781          3.295          0              0              0
  54  Cabinet         -2.205         0.388          3.459          0              0              0
  55  Cabinet         -2.963         0.388          3.459          0              0              0
  56  Cabinet         -2.992         0.388          2.683          0              0              0
  57  Cabinet         -3.352         2.205          1.715          0              0              0
  58  Cabinet         -3.352         2.205          2.653          0              0              0
  59  Cabinet         -2.189         0.388          3.466          0              0              0
  60  Cabinet         -3.365         1.931          3.963          0              0              0
  61  Cabinet         -3.365         1.931          1.056          0              0              0
  62  Cabinet         -2.992         0.388          1.037          0              0              0
  63  StoveBurner     -3.143         0.958          1.971          0              0              0
  64  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  65  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  68  Toaster         -2.654         0.902          4.064          0              180            0
  69  Fridge          -0.439         0.014          3.996          0              0              0
  70  LightSwitch     0.25           1.383          2.085          0              270            0
  71  Window          -1.430         1.338          -0.347         90             0              0
  72  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  73  SinkBasin       -1.802         0.778          3.700          0              0              0
  74  Microwave       -3.484         1.430          2.182          0              90             0
  75  GarbageCan      -1.184         -0.020         3.794          0              270            0
  76  Blinds          -1.404         2.092          -0.296         0              0              0
  77  Stool           -1.373         0.014          1.048          1.214          20.754         0
  78  Faucet          -1.788         0.903          3.931          270            90             0
  79  DiningTable     -1.399         0.010          0.238          0              0              0
  80  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn right and walk until you are just past the stove on your right and then turn right and walk to the counter to the left of the stove. | STEP 2: Pick up the green scrubby sponge. | STEP 3: Turn around and walk to the wall then turn left and walk to the fridge. | STEP 4: Open the fridge and put the sponge on the plate you see in there. | STEP 5: Pick up the plate with the sponge on it and close the fridge. | STEP 6: Turn around and walk to the wall then turn right. | STEP 7: Put the plate down near the edge of the right side a little above the corner closest to us please. | END