Task: Put the plate with the sponge into 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           1.75           0.900          0.0            0              90             0
   1  Book            -1.438         0.910          -2.560         0              0              0              79
   2  Potato          -1.997         0.570          1.003          0              90             0              87
   3  Potato          -1.963         0.800          -1.760         0              90             0              89
   4  CreditCard      -1.608         0.475          -0.245         0              90             0              69
   5  CreditCard      -1.693         0.908          -2.366         0              0              0              79
   6  Tomato          -2.162         0.837          1.085          0              90             0              87
   7  Tomato          0.217          1.150          0.251          0              0              0              54
   8  Bread           -0.059         1.184          -0.001         0              0              0              54
   9  Knife           0.969          0.936          -2.560         0              0              0              56
  10  Fork            -1.856         0.911          -2.036         0              270            0              79
  11  Fork            -0.335         1.112          -0.253         0              0              0              54
  12  Spoon           0.582          0.911          -2.253         0              0              0              56
  13  Pot             -0.036         0.950          -2.576         0              270            0              57
  14  WineBottle      -1.962         0.048          1.933          0              270            0              85
  15  WineBottle      -1.935         0.048          2.124          0              270            0              85
  16  DishSponge      -1.755         0.135          -1.623         0              90             0              55
  17  DishSponge      -1.765         0.129          0.158          0              90             0              60
  18  DishSponge      1.893          0.552          -2.614         0              180            0              84
  19  Book            0.155          1.1            0.617          0              315            0              54
  20  Glassbottle     -1.797         0.770          -1.501         0              90             0              89
  21  Knife           -0.059         1.136          -0.759         0              0              0              54
  22  Bread           -0.197         1.184          0.757          0              0              0              54
  23  Fork            -1.908         0.770          -1.673         0              90             0              89
  24  Potato          -2.114         1.336          1.343          0              90             0              87
  25  SoapBottle      -1.605         0.137          -1.740         0              90             0              55
  26  Kettle          0.951          1.662          -2.600         0              0              0              76
  27  Pan             0.721          0.9            -2.415         0              0              0              56
  28  Plate           0.355          1.108          -0.253         0              0              0              54
  29  Tomato          -2.026         1.348          0.925          0              90             0              87
  30  Vase            -0.840         1.658          -2.568         0              0              0              68
  31  Egg             -2.121         0.575          0.837          0              90             0              87
  32  CreditCard      0.969          0.907          -2.407         0              0              0              56
  33  Statue          1.955          0.168          -2.543         0              0              0              86
  34  WineBottle      0.453          0.911          -2.637         0              0              0              56
  35  Pot             -0.465         0.950          -2.576         0              90             0              63
  36  Spatula         1.122          0.661          -2.291         0              270            0              59
  37  PaperTowelRoll  0.453          1.014          -2.330         0              0              0              56
  38  Cup             0.355          1.109          -0.506         0              0              0              54
  39  Vase            1.789          0.878          -2.590         0              180            0              81
  40  Bowl            -2.114         1.302          1.092          0              90             0              87
  41  SaltShaker      -0.335         1.107          -0.001         0              0              0              54
  42  PepperShaker    0.615          1.656          -2.525         0              0              0              78
  43  Lettuce         -1.806         0.973          -0.942         0              256.771        0              79
  44  ButterKnife     0.217          1.111          -0.001         0              0              0              54
  45  Apple           -1.611         0.961          -2.146         0              0              0              79
  46  DishSponge      -1.962         0.047          2.029          0              270            0              85
  47  Spoon           -1.852         0.770          -1.328         0              90             0              89
  48  Mug             -0.122         1.785          -2.578         0              0              0              80
  49  StoveBurner     -0.036         0.915          -2.372         0              0              0
  50  Drawer          0.949          0.832          -2.197         0              0              0
  51  Drawer          -1.560         0.839          0.204          0              90             0
  52  StoveBurner     -0.465         0.915          -2.371         0              180            0
  53  Drawer          -1.560         0.839          -0.197         0              90             0
  54  CounterTop      -0.079         1.147          -0.001         0              0              0
  55  Cabinet         -1.549         0.494          -1.964         0              90             0
  56  CounterTop      0.693          0.946          -2.483         0              0              0
  57  StoveBurner     -0.036         0.915          -2.576         0              0              0
  58  Drawer          0.949          0.393          -2.200         0              0              0
  59  Drawer          0.949          0.708          -2.200         0              0              0
  60  Cabinet         -1.549         0.494          0.379          0              90             0
  61  StoveKnob       -0.022         0.881          -2.187         45             0              0
  62  Drawer          0.949          0.560          -2.201         0              0              0
  63  StoveBurner     -0.465         0.915          -2.575         0              180            0
  64  Window          -2.230         1.429          -1.203         0              0              0
  65  StoveKnob       -0.483         0.881          -2.187         45             0              0
  66  Sink            -1.899         0.964          -1.5           0              90             0
  67  StoveKnob       -0.328         0.881          -2.187         45             0              0
  68  Cabinet         -0.727         2.015          -2.460         0              0              0
  69  Drawer          -1.560         0.655          -0.196         0              90             0
  70  Cabinet         -1.685         2.015          -2.461         0              0              0
  71  Cabinet         0.680          0.494          -2.200         0              0              0
  72  Cabinet         -1.179         0.494          -2.200         0              0              0
  73  Cabinet         -1.849         2.015          0.379          0              90             0
  74  Drawer          0.949          0.221          -2.200         0              0              0
  75  StoveKnob       -0.183         0.881          -2.187         45             0              0
  76  Cabinet         0.719          2.015          -2.460         0              0              0
  77  Drawer          -1.560         0.331          -0.196         0              90             0
  78  Cabinet         0.680          2.015          -2.460         0              0              0
  79  CounterTop      -1.868         0.946          -1.205         0              0              0
  80  Microwave       -0.236         1.689          -2.525         0              0              0
  81  Shelf           1.751          0.880          -2.560         0              0              0
  82  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  83  Toaster         -1.835         0.900          0.134          0              90             0
  84  Shelf           1.750          0.552          -2.559         0              0              0
  85  GarbageCan      -1.935         -0.002         2.029          0              270            0
  86  Shelf           1.750          0.172          -2.559         0              0              0
  87  Fridge          -2.096         0.0            1.088          0              0              0
  88  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  89  SinkBasin       -1.908         0.759          -1.488         0              90             0
  90  LightSwitch     2.329          1.309          -0.159         0              270            0
  91  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  92  Stool           0.702          0.000          -0.514         1.202          65.108         0
  93  Stool           0.743          0.000          0.563          1.227          106.706        0
  94  Faucet          -2.070         1.132          -1.514         0              0              0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn right and go to the wooden shelves in front.  | STEP 2: Pick up the green sponge on the second shelf from the bottom.  | STEP 3: Turn around and go to the middle of the kitchen island on the left. | STEP 4: Place the green sponge on the white plate on the table near the edge. | STEP 5: Pick up the white plate with the green sponge on it. | STEP 6: Go around the island to the front of the cabinet on the left of the stove.  | STEP 7: Place the white plate with the green sponge in the cabinet.  | END