Task: place a plate with a sponge on it 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           -1.25          0.901          4.0            0              0              0
   1  Spatula         -2.480         0.915          1.913          0              90             0              67
   2  Fork            -2.377         0.662          0.519          0              270            0              54
   3  Fork            -0.326         0.662          0.300          0              90             0              35
   4  Pot             -0.486         0.900          3.334          0              0              0              69
   5  Plate           -2.301         1.777          0.160          0              0              0              42
   6  Plate           -0.747         1.777          0.205          0              0              0              44
   7  Knife           -2.628         0.961          3.395          0              0              0              53
   8  Knife           -0.400         0.926          2.329          0              0              0              69
   9  PepperShaker    -0.433         0.658          0.573          0              0              0              35
  10  PepperShaker    -2.485         0.658          0.519          0              0              0              54
  11  Lettuce         -0.314         0.980          2.530          0              0              0              69
  12  Lettuce         -2.847         1.266          4.575          0              90             0              63
  13  Mug             -1.266         0.790          0.226          0              0              0              64
  14  Egg             -0.138         1.056          0.299          0              0              0              65
  15  Plate           -2.785         0.303          4.575          0              90             0              63
  16  Fork            -2.686         0.901          1.913          0              0              0              67
  17  Bread           -0.314         0.957          2.932          0              0              0              69
  18  Apple           -0.143         0.956          3.133          0              0              0              69
  19  Lettuce         -2.377         0.980          2.441          0              0              0              67
  20  Spatula         -2.377         0.915          2.706          0              0              0              67
  21  Knife           -1.007         0.821          0.337          0              0              0              64
  22  Potato          -2.738         0.325          4.278          0              90             0              63
  23  Tomato          -2.549         0.999          3.209          0              0              0              53
  24  Cup             -2.583         0.900          2.309          0              0              0              67
  25  SaltShaker      -2.892         0.896          2.045          0              0              0              67
  26  PepperShaker    -2.583         0.896          2.706          0              0              0              67
  27  ButterKnife     -2.037         0.928          0.518          0              0              0              46
  28  SoapBottle      -1.691         1.773          0.114          0              0              0              41
  29  Pan             -0.250         0.926          4.651          0              0              0              48
  30  DishSponge      -2.377         0.900          2.573          0              0              0              67
  31  Pot             -0.535         0.928          4.274          0              0              0              50
  32  Spoon           -2.215         0.663          0.409          0              0              0              54
  33  Mug             -2.888         0.627          4.278          0              90             0              63
  34  Bowl            -0.249         1.770          0.205          0              0              0              45
  35  Drawer          -0.325         0.696          0.413          0              0              0
  36  Cabinet         -0.595         0.490          0.648          0              0              0
  37  Cabinet         -0.555         0.490          0.646          0              0              0
  38  Cabinet         -1.591         0.490          0.646          0              0              0
  39  Cabinet         -1.554         0.490          0.646          0              0              0
  40  Cabinet         -2.550         0.490          0.646          0              0              0
  41  Cabinet         -1.514         2.046          0.392          0              0              0
  42  Cabinet         -2.474         2.046          0.392          0              0              0
  43  Cabinet         -1.478         2.046          0.392          0              0              0
  44  Cabinet         -0.518         2.046          0.392          0              0              0
  45  Cabinet         -0.479         2.046          0.392          0              0              0
  46  CounterTop      -1.366         0.952          0.349          0              0              0
  47  Sink            -1.108         0.926          0.340          0              0              0
  48  StoveBurner     -0.254         0.922          4.672          0              0              0
  49  Drawer          -1.824         0.696          0.413          0              0              0
  50  StoveBurner     -0.535         0.922          4.274          0              0              0
  51  StoveBurner     -0.254         0.922          4.274          0              0              0
  52  StoveBurner     -0.536         0.922          4.672          0              0              0
  53  CounterTop      -2.780         0.971          3.487          0              0              0
  54  Drawer          -2.323         0.696          0.413          0              0              0
  55  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  56  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  57  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  58  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  59  Toaster         -0.286         0.861          3.520          0              270            0
  60  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  61  LightSwitch     -0.064         1.447          1.996          0              270            0
  62  Window          -3.075         1.593          1.361          90             90             0
  63  Fridge          -2.802         0.0            4.427          0              0              0
  64  SinkBasin       -1.106         0.785          0.337          0              0              0
  65  Microwave       -0.358         0.917          0.224          0              0              0
  66  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  67  DiningTable     -2.733         -0.003         2.607          0              270            0
  68  Faucet          -1.077         0.920          0.028          270            270            0
  69  DiningTable     -0.488         -0.003         3.182          0              270            0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: turn around and walk forwards a bit, then turn left and walk towards the kitchen counter with the coffee maker | STEP 2: grab the yellow knife off of the kitchen counter | STEP 3: move to the left a bit to face the right side of the long white kitchen table | STEP 4: slice up the lettuce on the table there | STEP 5: place the knife on the table behind the sponge | STEP 6: grab a slice of lettuce off of the table | STEP 7: turn to the right and walk to the end of the room, then turn left to face the refrigerator | STEP 8: place the lettuce inside of the fridge on the plate | STEP 9: grab the plate with the lettuce out of the fridge | STEP 10: turn left and head forwards until you reach the right side of the white table on the right, turn to face the table | STEP 11: place the plate on the back side of the table behind the knife and the cup | END