Task: Put the plate with sponge in the cabinet under the sink

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          -1.75          0              90             0
   1  Pan             -0.334         1.284          -0.529         0              0              0              79
   2  Potato          -3.245         0.792          -3.649         0              109.125        0              85
   3  DishSponge      -1.151         0.081          -3.454         0              0              0              64
   4  ButterKnife     -1.248         0.942          -3.439         0              0              0              49
   5  Fork            -2.761         0.895          -0.290         0              270            0              86
   6  Spoon           -0.583         0.748          -1.488         0              90             0              53
   7  Spoon           -3.565         0.895          -0.462         0              270            0              86
   8  Spatula         -0.244         0.957          -2.788         0              0              0              49
   9  Spatula         -0.236         0.956          -1.581         0              180            0              67
  10  Egg             -3.882         0.731          -0.430         0              0              0              84
  11  Egg             -0.701         0.854          -3.627         0              315            0              78
  12  Cup             -0.126         1.939          -1.791         0              0              0              58
  13  Plate           -3.766         0.774          -2.877         0              334.125        0              85
  14  Plate           -2.560         0.908          -0.548         0              270            0              86
  15  Plate           -3.508         0.774          -3.267         0              334.125        0              85
  16  Knife           -3.759         0.785          -3.387         0              244.125        0              85
  17  Knife           -0.577         0.776          -2.685         0              270            0              54
  18  SoapBottle      -3.121         0.758          -3.286         0              244.125        0              85
  19  SoapBottle      -4.002         0.689          -0.369         0              0              0              84
  20  Bowl            -2.761         0.892          -0.548         0              270            0              86
  21  Bowl            -0.214         1.936          -1.002         0              0              0              57
  22  Bread           -2.761         0.976          -0.204         0              270            0              86
  23  Lettuce         -2.359         0.985          -0.204         0              270            0              86
  24  SaltShaker      -3.364         0.890          -0.376         0              270            0              86
  25  SaltShaker      -0.389         0.076          -2.737         0              0              0              62
  26  PepperShaker    -0.509         0.076          -2.793         0              0              0              62
  27  Mug             -4.062         0.685          -0.491         0              0              0              84
  28  SoapBottle      -3.485         0.758          -3.599         0              334.125        0              85
  29  Pot             -0.437         0.961          -1.845         0              180            0              50
  30  Fork            -2.359         0.895          -0.376         0              270            0              86
  31  Cup             -0.234         1.576          -1.884         0              270            0              81
  32  Tomato          -0.334         1.337          -0.297         0              270            0              79
  33  Pan             -0.222         0.961          -2.243         0              0              0              68
  34  Plate           -4.002         0.705          -0.187         0              0              0              84
  35  Bread           -4.182         0.772          -0.248         0              0              0              84
  36  Spatula         -0.157         0.956          -1.406         0              0              0              67
  37  Knife           -3.460         0.785          -3.048         0              19.125         0              85
  38  SaltShaker      -2.560         0.890          -0.376         0              270            0              86
  39  PepperShaker    -0.394         0.937          -1.406         0              0              0              67
  40  ButterKnife     -3.679         0.760          -3.299         0              289.125        0              85
  41  Apple           -3.688         0.821          -3.133         0              199.125        0              85
  42  DishSponge      -0.552         0.940          -1.406         0              0              0              67
  43  Potato          -4.242         0.723          -0.491         0              0              0              84
  44  Egg             -3.942         0.732          -0.491         0              0              0              84
  45  Spoon           -3.163         0.895          -0.376         0              270            0              86
  46  Lettuce         -0.321         1.579          -0.413         0              270            0              79
  47  Mug             -2.962         0.889          -0.548         0              270            0              86
  48  Bowl            -3.350         0.758          -2.922         0              199.125        0              85
  49  CounterTop      -1.937         0.977          -3.673         0              0              0
  50  StoveBurner     -0.437         0.924          -1.845         0              180            0
  51  StoveBurner     -0.222         0.924          -1.845         0              180            0
  52  StoveBurner     -0.437         0.924          -2.243         0              0              0
  53  Drawer          -0.500         0.779          -1.450         0              0              0
  54  Drawer          -0.481         0.777          -2.739         0              0              0
  55  Drawer          -1.154         0.782          -3.499         0              0              0
  56  Cabinet         -0.337         2.110          -0.390         0              0              0
  57  Cabinet         -0.337         2.110          -1.272         0              0              0
  58  Cabinet         -0.337         2.110          -1.631         0              0              0
  59  Cabinet         -0.337         2.110          -2.497         0              0              0
  60  Cabinet         -0.337         1.891          -1.286         0              0              0
  61  Cabinet         -0.346         1.891          -3.293         0              0              0
  62  Cabinet         -0.629         0.388          -2.513         0              0              0
  63  Cabinet         -0.633         0.388          -3.008         0              0              0
  64  Cabinet         -1.010         0.388          -3.368         0              0              0
  65  Cabinet         -0.629         0.388          -1.614         0              0              0
  66  Cabinet         -0.327         1.886          -2.513         0              0              0
  67  CounterTop      -0.326         0.976          -1.450         0              0              0
  68  StoveBurner     -0.222         0.924          -2.243         0              0              0
  69  Sink            -0.600         0.929          -3.388         0              0              0
  70  StoveKnob       -0.617         0.899          -1.833         315            90             180
  71  StoveKnob       -0.617         0.899          -2.129         315            90             180
  72  StoveKnob       -0.617         0.899          -2.289         315            90             180
  73  StoveKnob       -0.617         0.899          -1.975         315            90             180
  74  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  75  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  76  Window          -1.389         1.610          -4.113         90             0              0
  77  LightSwitch     -4.372         1.493          -1.031         0              90             0
  78  SinkBasin       -0.614         0.802          -3.384         0              315            0
  79  Fridge          -0.314         0.0            -0.646         0              0              0
  80  Toaster         -1.970         0.930          -3.763         0              0              0
  81  Microwave       -0.216         1.470          -2.054         0              270            0
  82  Blinds          -1.373         2.205          -3.961         0              0              0
  83  Faucet          -0.393         0.930          -3.614         270            225            0
  84  SideTable       -4.030         0.002          -0.301         0              185.034        0
  85  DiningTable     -3.586         0.000          -3.258         0              0              0
  86  DiningTable     -3.224         -0.003         -0.453         0              0              0
  87  Shelf           -4.030         0.259          -0.301         0              185.034        0
  88  Shelf           -4.030         0.489          -0.301         0              185.034        0
  89  EastWall
  90  EastWall
  91  SouthWall

Plan:
STEP 1: Walk forward to the kitchen counter left of the stove | STEP 2: Pick up the green sponge from the counter | STEP 3: Turn around and walk over to the round table | STEP 4: Put the green sponge on the square plate in the center of the table | STEP 5: Pick up the plate in the center of the table | STEP 6: Turn around and approach the cabinet under the sink | STEP 7: Open the cabinet under the sink and put the plate in it | END