Task: put a sponge and plate in a kitchen cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          -1.25          0              0              0
   1  Pan             -2.987         0.912          -3.952         0              90             0              39
   2  Potato          -3.346         0.957          -3.655         0              0              0              39
   3  DishSponge      -1.638         0.790          -3.747         0              0              0              81
   4  Spoon           -0.095         0.917          -0.472         0              0              0              66
   5  Fork            -2.723         0.714          -0.496         0              0              0              83
   6  Egg             -2.439         0.749          -0.683         0              270            0              83
   7  Plate           -2.723         0.715          -0.621         0              270            0              83
   8  Knife           -2.439         0.749          -0.433         0              270            0              83
   9  Knife           -0.243         0.946          -3.729         0              0              0              39
  10  SoapBottle      -0.419         0.915          -1.370         0              0              0              66
  11  Bowl            -0.447         0.911          -3.655         0              0              0              39
  12  SaltShaker      -3.140         0.742          -2.857         0              0              0              61
  13  PepperShaker    -3.022         0.710          -0.741         0              225            0              83
  14  PepperShaker    -0.471         0.742          -0.533         0              0              0              65
  15  Mug             -2.608         0.708          -0.150         0              45             0              83
  16  Mug             -0.039         0.908          -4.026         0              0              0              39
  17  Apple           -3.027         0.683          -1.941         0              90             0              80
  18  Pot             -0.165         0.975          -2.030         0              180            0              70
  19  Egg             -1.551         0.949          -3.989         0              0              0              39
  20  Cup             -3.226         1.868          -2.084         0              0              0              49
  21  Bread           -0.854         0.954          -3.804         0              0              0              39
  22  Fork            -0.441         0.747          -3.079         0              90             0              69
  23  Pan             -0.394         0.973          -2.414         0              0              0              64
  24  Potato          -3.234         1.057          -1.879         0              90             0              80
  25  Lettuce         -1.323         0.988          -3.758         1.040          253.596        356.131        39
  26  Tomato          -3.140         0.963          -3.327         0              0              0              39
  27  Apple           -3.234         1.056          -2.064         0              90             0              80
  28  SoapBottle      -2.696         0.716          -0.061         0              225            0              83
  29  Spatula         -1.914         0.805          -3.832         0              90             0              81
  30  SaltShaker      -2.998         0.713          -0.628         0              135            0              83
  31  Knife           -0.338         0.948          -0.490         0              0              0              66
  32  PepperShaker    -0.792         1.289          -3.811         0              0              0              53
  33  ButterKnife     -0.338         0.916          -1.616         0              0              0              66
  34  Plate           -2.990         0.715          -0.922         0              0              0              83
  35  DishSponge      -2.664         0.716          -0.294         0              225            0              83
  36  Spoon           -3.155         0.718          -0.608         0              225            0              83
  37  Mug             -2.930         0.762          -0.358         0              135            0              79
  38  Bowl            -3.182         1.396          -1.941         0              90             0              80
  39  CounterTop      -1.789         0.949          -3.803         0              0              0
  40  Cabinet         -0.577         0.388          -3.476         0              0              0
  41  Cabinet         -0.605         0.388          -3.511         0              0              0
  42  Cabinet         -2.976         0.388          -3.201         0              0              0
  43  Cabinet         -0.577         0.388          -0.447         0              0              0
  44  Cabinet         -0.577         0.388          -1.725         0              0              0
  45  Cabinet         -0.226         1.803          -1.743         0              0              0
  46  Cabinet         -0.228         1.799          -0.447         0              0              0
  47  Cabinet         -6.010         1.139          -6.019         0              0              0
  48  Cabinet         -3.022         2.098          -2.681         0              0              0
  49  Cabinet         -3.022         2.098          -1.743         0              0              0
  50  Cabinet         -0.577         0.388          -2.736         0              0              0
  51  Cabinet         -3.232         1.803          -3.343         0              0              0
  52  Cabinet         -2.811         1.810          -3.764         0              0              0
  53  Cabinet         -1.233         1.810          -3.764         0              0              0
  54  Cabinet         -1.364         0.388          -3.511         0              0              0
  55  Cabinet         -1.380         0.388          -3.511         0              0              0
  56  Cabinet         -0.226         1.803          -2.725         0              0              0
  57  Cabinet         -0.236         2.098          -1.767         0              0              0
  58  Cabinet         -0.236         2.098          -2.705         0              0              0
  59  Cabinet         -0.193         1.210          -4.239         0              0              0
  60  Cabinet         -2.148         0.388          -3.511         0              0              0
  61  Drawer          -3.104         0.797          -2.968         0              0              0
  62  Drawer          -0.449         0.797          -1.410         0              0              0
  63  Sink            -1.786         0.902          -3.748         0              0              0
  64  StoveBurner     -0.376         0.936          -2.451         0              0              0
  65  Drawer          -0.449         0.797          -0.762         0              0              0
  66  CounterTop      -0.268         0.951          -1.089         0              0              0
  67  Drawer          -0.449         0.797          -3.348         0              0              0
  68  StoveBurner     -0.376         0.936          -2.031         0              180            0
  69  Drawer          -0.449         0.797          -2.968         0              0              0
  70  StoveBurner     -0.165         0.936          -2.030         0              180            0
  71  StoveBurner     -0.165         0.936          -2.450         0              0              0
  72  StoveKnob       -0.568         0.903          -2.313         45             270            0
  73  StoveKnob       -0.568         0.903          -2.470         45             270            0
  74  StoveKnob       -0.568         0.903          -2.166         45             270            0
  75  StoveKnob       -0.568         0.903          -2.003         45             270            0
  76  Microwave       -0.143         0.903          -0.908         0              270            0
  77  LightSwitch     -1.108         1.457          0.338          0              180            0
  78  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  79  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  80  Fridge          -3.188         0.0            -2.184         0              0              0
  81  SinkBasin       -1.786         0.779          -3.747         0              0              0
  82  Toaster         -0.230         0.903          -3.406         0              270            0
  83  DiningTable     -2.800         0.003          -0.505         0              0              0
  84  Chair           -3.044         0.003          -1.223         0              32.194         0
  85  Faucet          -1.791         1.136          -3.913         0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: turn around, walk to face the wooden round table | STEP 2: pick up the green sponge from the table top | STEP 3: walk slightly left to still face the table | STEP 4: place the sponge on the plate on the right on the table | STEP 5: pick up the plate from the table top | STEP 6: turn to walk to face the microwave | STEP 7: open the cabinet below microwave, put sponge inside cabinet, close the door | END