Task: place a plate with a sponge down on the kitchen 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              0              0
   1  Kettle          1.361          0.962          0.561          0              270            0              49
   2  Kettle          -0.147         0.111          -1.545         0              0              0              53
   3  Potato          -1.872         0.810          -1.892         0              90             0              74
   4  Potato          0.697          0.942          0.292          0              0              0              43
   5  Spoon           -0.678         0.775          -1.473         0              270            0              48
   6  Spoon           0.377          0.778          -1.793         0              0              0              67
   7  Spatula         1.903          0.927          -1.820         0              0              0              44
   8  Spatula         -0.267         0.927          -1.820         0              0              0              44
   9  Plate           0.071          0.107          0.320          0              0              0              54
  10  Tomato          -2.397         1.541          -1.763         0              0              0              74
  11  Bowl            0.209          0.108          -1.547         0              180            0              41
  12  Bowl            -1.959         1.051          -1.720         0              0              0              74
  13  SaltShaker      0.035          0.908          0.209          0              0              0              43
  14  SaltShaker      1.907          0.908          0.623          0              0              0              59
  15  Bread           1.299          0.978          -1.532         0              0              0              44
  16  Knife           1.663          0.937          0.623          0              270            0              59
  17  Fork            0.856          0.920          -1.715         0              270            0              42
  18  Bowl            1.846          0.911          0.292          0              0              0              59
  19  Kettle          1.361          0.962          0.294          0              180            0              39
  20  Cup             1.601          0.910          0.209          0              0              0              59
  21  Tomato          -0.362         0.119          0.569          0              90             0              73
  22  SoapBottle      -0.343         1.327          -1.809         0              180            0              38
  23  Plate           -2.135         0.512          -1.720         0              0              0              74
  24  Pot             1.007          0.962          0.561          0              270            0              46
  25  Spatula         -0.082         0.927          -1.489         0              0              0              44
  26  PaperTowelRoll  1.968          1.016          0.706          0              0              0              59
  27  Egg             0.412          0.811          -1.552         0              270            0              67
  28  Lettuce         0.851          1.001          -1.537         0              231.490        0              42
  29  SaltShaker      1.658          0.908          -1.571         0              0              0              44
  30  PepperShaker    0.562          0.106          0.233          0              0              0              55
  31  Apple           1.724          0.979          0.540          0              0              0              59
  32  ButterKnife     -0.267         0.912          -1.820         0              90             0              44
  33  Potato          0.701          0.949          -1.649         0              270            0              42
  34  Pan             1.022          0.959          0.288          0              219.190        0              56
  35  DishSponge      -0.096         0.911          0.623          0              0              0              43
  36  Spoon           1.824          0.775          0.273          0              90             0              45
  37  Mug             0.618          0.945          0.469          0              180            0              68
  38  Cabinet         -0.193         1.688          -1.648         0              180            0
  39  StoveBurner     1.360          0.957          0.293          0              180            0
  40  Drawer          0.499          0.792          0.296          0              0              0
  41  Cabinet         0.095          0.400          -1.352         0              180            0
  42  Sink            0.711          0.817          -1.772         0              270            0
  43  CounterTop      0.280          0.947          0.458          0              0              0
  44  CounterTop      -0.680         0.947          -1.654         0              0              0
  45  Drawer          1.825          0.792          0.296          0              0              0
  46  StoveBurner     1.007          0.957          0.561          0              270            0
  47  Drawer          -0.150         0.792          -1.496         0              0              0
  48  Drawer          -0.586         0.792          -1.496         0              0              0
  49  StoveBurner     1.360          0.957          0.561          0              270            0
  50  Drawer          0.024          0.792          0.296          0              0              0
  51  Cabinet         1.079          0.400          -1.349         0              180            0
  52  Cabinet         1.669          0.402          0.151          0              0              0
  53  Cabinet         0.055          0.402          -1.351         0              0              0
  54  Cabinet         -0.180         0.402          0.151          0              0              0
  55  Cabinet         0.729          0.402          0.151          0              0              0
  56  StoveBurner     1.007          0.957          0.293          0              180            0
  57  Drawer          -1.100         0.792          -1.496         0              0              0
  58  Cabinet         -0.396         0.402          -1.351         0              0              0
  59  CounterTop      1.776          0.947          0.458          0              0              0
  60  Cabinet         1.974          1.688          -1.648         0              180            0
  61  Cabinet         -0.820         0.400          -1.349         0              180            0
  62  Toaster         0.305          0.900          0.552          0              180            0
  63  LightSwitch     -2.756         1.307          -0.987         0              90             0
  64  Window          0.582          1.613          -1.967         90             0              0
  65  Window          1.969          1.5            -0.615         90             270            0
  66  Microwave       -1.037         0.900          -1.723         0              0              0
  67  SinkBasin       0.377          0.765          -1.655         0              270            0
  68  CoffeeMachine   0.618          0.900          0.600          0              180            0
  69  StoveKnob       1.246          0.913          0.118          45             180            0
  70  StoveKnob       1.373          0.913          0.118          45             180            0
  71  StoveKnob       0.995          0.913          0.118          45             180            0
  72  StoveKnob       1.126          0.913          0.118          45             180            0
  73  GarbageCan      -0.368         -0.029         0.539          0              90             0
  74  Fridge          -2.134         0.0            -1.690         0              0              0
  75  Faucet          0.549          1.046          -1.833         0              232.527        0
  76  Stool           -1.475         0.000          0.414          1.233          280.375        0
  77  DiningTable     -2.255         -0.004         0.432          0              0              0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: turn left and walk to the end of the kitchen counter on your right | STEP 2: grab the sponge out of the trash bin | STEP 3: turn around and walk over to the fridge in the corner of the room on your right | STEP 4: place the sponge on the plate inside of the fridge | STEP 5: pick up the plate out of the fridge | STEP 6: turn around and walk straight ahead to the white table in the corner of the kitchen | STEP 7: place the plate down on the table there | END