Task: place white plate with green sponge in cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          1.75           0              180            0
   1  Statue          0.217          1.110          -0.506         0              0              0              68
   2  Potato          -0.335         1.142          0.757          0              0              0              68
   3  CreditCard      -1.611         0.908          -0.698         0              0              0              93
   4  CreditCard      0.950          0.139          -2.479         0              0              0              88
   5  Plate           0.355          1.108          -0.001         0              0              0              68
   6  Plate           -2.120         0.795          1.085          0              90             0              101
   7  Cup             -1.291         1.656          -2.641         0              0              0              82
   8  Cup             2.096          0.878          -2.563         0              180            0              95
   9  Egg             0.355          1.146          0.504          0              0              0              68
  10  Egg             -2.019         0.946          -2.146         0              0              0              93
  11  Tomato          -2.038         0.579          0.837          0              90             0              101
  12  Tomato          -1.693         0.950          -0.513         0              0              0              93
  13  SoapBottle      -1.715         0.130          0.158          0              90             0              74
  14  SaltShaker      0.950          0.138          -2.286         0              0              0              88
  15  PepperShaker    1.098          0.907          -2.560         0              0              0              70
  16  Lettuce         -0.059         1.191          -0.253         0              0              0              68
  17  Apple           0.840          0.961          -2.253         0              0              0              70
  18  Knife           0.079          1.136          -0.759         0              0              0              68
  19  Fork            0.892          0.142          -2.382         0              0              0              88
  20  Spoon           0.582          0.911          -2.637         0              0              0              70
  21  Spoon           0.324          0.911          -2.253         0              0              0              70
  22  Mug             -1.963         0.764          -1.673         0              90             0              103
  23  Spatula         1.066          0.330          -2.383         0              0              0              72
  24  Spatula         0.840          0.925          -2.407         0              180            0              70
  25  ButterKnife     -1.963         0.769          -1.328         0              270            0              103
  26  ButterKnife     -0.335         1.111          -0.253         0              0              0              68
  27  Kettle          -1.852         0.770          -1.501         0              90             0              103
  28  Kettle          -1.008         0.138          -2.402         0              0              0              86
  29  WineBottle      -1.296         0.137          -2.453         0              0              0              86
  30  WineBottle      -0.197         1.112          0.757          0              0              0              68
  31  DishSponge      -1.908         0.769          -1.242         0              90             0              103
  32  DishSponge      2.100          0.552          -2.614         0              180            0              98
  33  Book            0.155          1.1            0.617          0              315            0              68
  34  Glassbottle     0.969          0.911          -2.253         0              0              0              70
  35  Knife           -0.197         1.136          -0.001         0              0              0              68
  36  Bread           -1.856         0.983          -0.698         0              0              0              93
  37  Fork            0.840          0.911          -2.560         0              180            0              70
  38  Potato          0.969          0.941          -2.714         0              0              0              70
  39  SoapBottle      -1.781         0.479          -0.100         0              90             0              83
  40  Kettle          -0.036         0.950          -2.576         0              270            0              71
  41  Pan             0.721          0.9            -2.415         0              0              0              70
  42  Plate           -0.059         1.108          0.251          0              0              0              68
  43  Tomato          -1.797         0.808          -1.673         0              90             0              103
  44  Vase            -1.856         0.913          -2.036         0              0              0              93
  45  Egg             -0.225         1.825          -2.514         0              0              0              94
  46  CreditCard      -1.694         0.475          -0.245         0              90             0              83
  47  Statue          -0.473         1.110          -0.506         0              90             0              68
  48  WineBottle      -1.962         0.048          2.076          0              270            0              99
  49  Pot             -0.465         0.950          -2.372         0              90             0              66
  50  Spatula         0.950          0.791          -2.377         0              0              0              64
  51  PaperTowelRoll  -1.880         0.152          2.076          0              180            0              99
  52  Cup             0.505          1.657          -2.596         0              0              0              92
  53  Vase            1.789          0.878          -2.563         0              180            0              95
  54  Bowl            0.951          1.657          -2.564         0              0              0              90
  55  SaltShaker      1.121          0.138          -2.431         0              0              0              88
  56  PepperShaker    -1.104         0.133          -2.554         0              0              0              86
  57  Lettuce         -0.335         1.191          0.504          0              0              0              68
  58  ButterKnife     0.950          0.481          -2.380         0              0              0              76
  59  Apple           -2.114         1.359          1.008          0              90             0              101
  60  DishSponge      -1.907         0.047          1.933          0              270            0              99
  61  Spoon           -1.852         0.770          -1.760         0              180            0              103
  62  Mug             -1.731         0.956          -0.168         0              90             0              102
  63  StoveBurner     -0.036         0.915          -2.372         0              0              0
  64  Drawer          0.949          0.832          -2.197         0              0              0
  65  Drawer          -1.560         0.839          0.204          0              90             0
  66  StoveBurner     -0.465         0.915          -2.371         0              180            0
  67  Drawer          -1.560         0.839          -0.197         0              90             0
  68  CounterTop      -0.079         1.147          -0.001         0              0              0
  69  Cabinet         -1.549         0.494          -1.964         0              90             0
  70  CounterTop      0.693          0.946          -2.483         0              0              0
  71  StoveBurner     -0.036         0.915          -2.576         0              0              0
  72  Drawer          0.949          0.393          -2.200         0              0              0
  73  Drawer          0.949          0.708          -2.200         0              0              0
  74  Cabinet         -1.549         0.494          0.379          0              90             0
  75  StoveKnob       -0.022         0.881          -2.187         45             0              0
  76  Drawer          0.949          0.560          -2.201         0              0              0
  77  StoveBurner     -0.465         0.915          -2.575         0              180            0
  78  Window          -2.230         1.429          -1.203         0              0              0
  79  StoveKnob       -0.483         0.881          -2.187         45             0              0
  80  Sink            -1.899         0.964          -1.5           0              90             0
  81  StoveKnob       -0.328         0.881          -2.187         45             0              0
  82  Cabinet         -0.727         2.015          -2.460         0              0              0
  83  Drawer          -1.560         0.655          -0.196         0              90             0
  84  Cabinet         -1.685         2.015          -2.461         0              0              0
  85  Cabinet         0.680          0.494          -2.200         0              0              0
  86  Cabinet         -1.179         0.494          -2.200         0              0              0
  87  Cabinet         -1.849         2.015          0.379          0              90             0
  88  Drawer          0.949          0.221          -2.200         0              0              0
  89  StoveKnob       -0.183         0.881          -2.187         45             0              0
  90  Cabinet         0.719          2.015          -2.460         0              0              0
  91  Drawer          -1.560         0.331          -0.196         0              90             0
  92  Cabinet         0.680          2.015          -2.460         0              0              0
  93  CounterTop      -1.868         0.946          -1.205         0              0              0
  94  Microwave       -0.236         1.689          -2.525         0              0              0
  95  Shelf           1.751          0.880          -2.560         0              0              0
  96  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  97  Toaster         -1.835         0.900          0.134          0              90             0
  98  Shelf           1.750          0.552          -2.559         0              0              0
  99  GarbageCan      -1.935         -0.002         2.029          0              270            0
 100  Shelf           1.750          0.172          -2.559         0              0              0
 101  Fridge          -2.096         0.0            1.088          0              0              0
 102  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 103  SinkBasin       -1.908         0.759          -1.488         0              90             0
 104  LightSwitch     2.329          1.309          -0.159         0              270            0
 105  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 106  Stool           0.702          0.000          -0.514         1.202          65.108         0
 107  Stool           0.743          0.000          0.563          1.227          106.706        0
 108  Faucet          -2.070         1.132          -1.514         0              0              0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: turn right, go to black bin to the right of refrigerator | STEP 2: pick up green sponge from black bin | STEP 3: turn around, go to side of center counter in between two black stools | STEP 4: place green sponge on white plate on counter between black stools | STEP 5: pick up white plate with green sponge | STEP 6: turn left, go to upper cabinet to the right of microwave above sink | STEP 7: open cabinet, place plate with green sponge in cabinet, close cabinet | END