Task: Place gray plate with green sponge in end bottom cabinet

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           0.901          -2.0           0              180            0
   1  Potato          -3.027         0.685          -2.002         0              90             0              85
   2  DishSponge      -1.263         0.079          -3.712         0              0              0              59
   3  DishSponge      -0.093         1.293          -0.696         0              0              0              51
   4  DishSponge      -2.987         0.913          -4.026         0              0              0              44
   5  ButterKnife     -1.262         0.913          -3.804         0              0              0              44
   6  ButterKnife     -0.854         0.913          -3.729         0              0              0              44
   7  Spatula         -0.500         0.761          -0.837         0              90             0              70
   8  Spatula         -2.740         0.728          -0.211         0              90             0              88
   9  Spoon           -3.082         0.747          -3.023         0              90             0              66
  10  Cup             -0.014         0.916          -1.677         0              0              0              71
  11  Cup             -3.036         0.886          -2.470         0              90             0              85
  12  Plate           -3.182         0.639          -1.941         0              90             0              85
  13  Plate           -2.519         0.711          -0.753         0              135            0              88
  14  Knife           -1.666         0.946          -3.519         0              0              0              44
  15  Knife           -3.111         0.779          -2.912         0              270            0              66
  16  Tomato          -2.803         0.763          -0.922         0              0              0              88
  17  Bowl            -3.292         0.711          -0.433         0              270            0              88
  18  Bowl            -0.291         1.294          -3.613         0              45             0              64
  19  Lettuce         -2.777         0.804          -0.584         0              225            0              88
  20  Lettuce         -3.393         1.001          -3.428         0              270            0              44
  21  Mug             -0.650         0.908          -4.026         0              0              0              44
  22  Mug             -1.523         0.077          -3.634         0              0              0              60
  23  Pot             -0.376         0.975          -2.031         0              180            0              73
  24  Egg             -1.845         0.827          -3.618         0              0              0              86
  25  Cup             -0.813         0.082          -3.753         0              0              0              46
  26  Bread           -0.327         0.948          -3.681         0              298.222        0              44
  27  Fork            -3.309         0.914          -2.926         0              0              0              44
  28  Pan             -0.165         0.975          -2.450         0              0              0              76
  29  Potato          -2.740         0.760          -0.780         0              0              0              88
  30  Lettuce         -3.066         0.804          -0.697         0              225            0              88
  31  Tomato          -0.284         0.129          0.055          0              270            0              83
  32  Apple           -2.439         0.756          -0.371         0              270            0              88
  33  SoapBottle      -2.372         1.295          -3.888         0              0              0              57
  34  Spatula         -3.155         0.728          -0.608         0              315            0              88
  35  SaltShaker      -2.934         0.710          -0.829         0              225            0              88
  36  Knife           -3.140         0.946          -3.428         0              0              0              44
  37  PepperShaker    -0.500         0.742          -3.134         0              0              0              74
  38  ButterKnife     -0.338         0.916          -1.493         0              180            0              71
  39  Plate           -0.160         0.911          -3.112         0              0              0              44
  40  DishSponge      -0.413         0.080          -0.683         0              0              0              48
  41  Spoon           -2.928         0.714          -0.638         0              180            0              88
  42  Mug             -0.158         1.007          -0.900         0              270            0              81
  43  Bowl            -0.447         0.911          -3.952         0              0              0              44
  44  CounterTop      -1.789         0.949          -3.803         0              0              0
  45  Cabinet         -0.577         0.388          -3.476         0              0              0
  46  Cabinet         -0.605         0.388          -3.511         0              0              0
  47  Cabinet         -2.976         0.388          -3.201         0              0              0
  48  Cabinet         -0.577         0.388          -0.447         0              0              0
  49  Cabinet         -0.577         0.388          -1.725         0              0              0
  50  Cabinet         -0.226         1.803          -1.743         0              0              0
  51  Cabinet         -0.228         1.799          -0.447         0              0              0
  52  Cabinet         -6.010         1.139          -6.019         0              0              0
  53  Cabinet         -3.022         2.098          -2.681         0              0              0
  54  Cabinet         -3.022         2.098          -1.743         0              0              0
  55  Cabinet         -0.577         0.388          -2.736         0              0              0
  56  Cabinet         -3.232         1.803          -3.343         0              0              0
  57  Cabinet         -2.811         1.810          -3.764         0              0              0
  58  Cabinet         -1.233         1.810          -3.764         0              0              0
  59  Cabinet         -1.364         0.388          -3.511         0              0              0
  60  Cabinet         -1.380         0.388          -3.511         0              0              0
  61  Cabinet         -0.226         1.803          -2.725         0              0              0
  62  Cabinet         -0.236         2.098          -1.767         0              0              0
  63  Cabinet         -0.236         2.098          -2.705         0              0              0
  64  Cabinet         -0.193         1.210          -4.239         0              0              0
  65  Cabinet         -2.148         0.388          -3.511         0              0              0
  66  Drawer          -3.104         0.797          -2.968         0              0              0
  67  Drawer          -0.449         0.797          -1.410         0              0              0
  68  Sink            -1.786         0.902          -3.748         0              0              0
  69  StoveBurner     -0.376         0.936          -2.451         0              0              0
  70  Drawer          -0.449         0.797          -0.762         0              0              0
  71  CounterTop      -0.268         0.951          -1.089         0              0              0
  72  Drawer          -0.449         0.797          -3.348         0              0              0
  73  StoveBurner     -0.376         0.936          -2.031         0              180            0
  74  Drawer          -0.449         0.797          -2.968         0              0              0
  75  StoveBurner     -0.165         0.936          -2.030         0              180            0
  76  StoveBurner     -0.165         0.936          -2.450         0              0              0
  77  StoveKnob       -0.568         0.903          -2.313         45             270            0
  78  StoveKnob       -0.568         0.903          -2.470         45             270            0
  79  StoveKnob       -0.568         0.903          -2.166         45             270            0
  80  StoveKnob       -0.568         0.903          -2.003         45             270            0
  81  Microwave       -0.143         0.903          -0.908         0              270            0
  82  LightSwitch     -1.108         1.457          0.338          0              180            0
  83  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  84  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  85  Fridge          -3.188         0.0            -2.184         0              0              0
  86  SinkBasin       -1.786         0.779          -3.747         0              0              0
  87  Toaster         -0.230         0.903          -3.406         0              270            0
  88  DiningTable     -2.800         0.003          -0.505         0              0              0
  89  Chair           -3.044         0.003          -1.223         0              32.194         0
  90  Faucet          -1.791         1.136          -3.913         0              270            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: turn around, go to cabinet above microwave to the right | STEP 2: open upper end cabinet, pick up green sponge from cabinet, close cabinet | STEP 3: turn around, go to counter with toaster to the left | STEP 4: place green sponge on gray plate to the left of toaster | STEP 5: pick up gray plate with green sponge | STEP 6: turn around, go to bottom end cabinet to the right | STEP 7: open cabinet, place plate with sponge to the right of green sponge in cabinet, close cabinet | END