Task: put the green sponge in the cupboard below the microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          -0.25          0              180            0
   1  Pan             1.891          1.098          -0.365         0              0              0              94
   2  Pan             -1.056         0.956          -0.672         0              180            0              59
   3  Statue          -1.330         0.920          -0.231         0              0              0              80
   4  Statue          3.002          0.886          0.168          0              180            0              91
   5  Ladle           -0.420         0.950          0.030          0              0              0              80
   6  Ladle           -1.259         0.948          -1.929         0              0              0              87
   7  DishSponge      1.419          0.910          -1.844         0              0              0              87
   8  DishSponge      -0.822         1.131          0.529          0              0              0              83
   9  DishSponge      2.002          0.062          0.109          0              0              0              90
  10  ButterKnife     -0.203         0.763          -2.063         0              180            0              97
  11  Kettle          -1.056         0.956          -1.127         0              0              0              84
  12  Spatula         -0.420         0.928          0.241          0              0              0              80
  13  Fork            -1.278         0.914          0.030          0              0              0              80
  14  Fork            -0.053         0.697          0.181          0              180            0              86
  15  Egg             -0.598         1.165          0.662          0              0              0              83
  16  Egg             -1.259         0.944          -2.267         0              0              0              87
  17  Plate           -1.317         1.656          -1.852         0              0              0              69
  18  Knife           -0.375         1.155          0.706          0              0              0              83
  19  SoapBottle      -0.910         0.911          -1.384         0              0              0              87
  20  Tomato          1.194          0.960          -1.760         0              0              0              87
  21  Tomato          1.845          0.112          0.138          0              0              0              90
  22  Bowl            2.000          1.424          -0.365         0              270            0              94
  23  SaltShaker      -1.413         0.909          -0.414         0              0              0              80
  24  SaltShaker      -0.205         0.909          0.135          0              0              0              80
  25  PepperShaker    0.071          1.127          0.485          0              0              0              83
  26  PepperShaker    2.798          0.548          0.245          0              180            0              93
  27  Mug             -0.634         0.908          0.294          0              0              0              80
  28  Mug             2.055          0.812          -0.551         0              0              0              94
  29  Pan             -1.289         0.957          -0.756         0              180            0              62
  30  Knife           -0.117         0.786          -2.063         0              90             0              97
  31  Bowl            2.000          1.424          -0.737         0              270            0              94
  32  Fork            -1.239         0.911          -1.722         0              0              0              87
  33  Cup             0.101          0.750          -1.938         0              0              0              97
  34  Ladle           -1.239         0.948          -1.553         0              0              0              87
  35  Apple           2.000          0.865          -0.830         0              270            0              94
  36  Kettle          -1.138         0.912          -1.845         0              90             0              87
  37  Vase            -1.272         1.662          -0.353         0              0              0              70
  38  Potato          1.846          1.045          -1.350         0              270            0              92
  39  Pot             -1.089         0.9            0.235          0              0              0              80
  40  Bread           -1.148         0.981          -0.193         0              0              0              80
  41  Plate           -0.985         0.134          -0.250         0              0              0              74
  42  Spatula         -0.543         0.707          0.102          0              90             0              81
  43  PaperTowelRoll  -1.045         1.235          0.662          0              90             0              83
  44  Vase            2.699          0.869          0.182          0              0              0              91
  45  Egg             -0.205         0.947          0.294          0              0              0              80
  46  SoapBottle      -0.986         0.128          -1.428         0              0              0              73
  47  SaltShaker      2.900          0.876          0.168          0              180            0              91
  48  Lettuce         -0.777         0.987          -1.845         0              0              0              87
  49  PepperShaker    -0.849         0.909          0.241          0              0              0              80
  50  ButterKnife     -0.152         1.131          0.529          0              0              0              83
  51  DishSponge      -0.913         0.913          -0.231         0              0              0              80
  52  Vase            2.979          0.539          0.128          0              0              0              93
  53  Spoon           -0.634         0.914          0.083          0              0              0              80
  54  Tomato          1.836          1.477          -0.644         0              270            0              94
  55  Mug             -0.031         0.758          -2.008         0              0              0              97
  56  Statue          -0.849         0.920          0.030          0              0              0              80
  57  Drawer          -0.819         0.75           -1.690         0              0              0
  58  Cabinet         -1.149         2.264          -0.838         0              90             0
  59  StoveBurner     -1.056         0.949          -0.671         0              180            0
  60  Cabinet         1.738          2.019          -2.000         0              0              0
  61  Cabinet         1.389          0.469          -1.059         0              0              0
  62  StoveBurner     -1.289         0.949          -0.755         0              180            0
  63  Faucet          -0.157         1.052          -2.196         0              270            0
  64  Cabinet         1.75           2.019          -1.029         0              0              0
  65  Cabinet         1.75           2.019          -1.399         0              0              0
  66  Cabinet         1.179          2.019          -2.0           0              0              0
  67  Cabinet         0.199          2.019          -2.0           0              0              0
  68  Cabinet         -1.100         2.019          -2.0           0              0              0
  69  Cabinet         -1.149         2.019          -1.979         0              0              0
  70  Cabinet         -1.149         2.019          -0.770         0              0              0
  71  Cabinet         -1.149         2.019          0.380          0              0              0
  72  Cabinet         -0.819         0.469          -1.689         0              0              0
  73  Cabinet         -0.839         0.469          -1.664         0              0              0
  74  Cabinet         -0.839         0.469          -0.049         0              0              0
  75  Cabinet         -0.414         0.370          -0.009         0              0              0
  76  Sink            -0.118         0.875          -2.009         0              0              0
  77  StoveBurner     -1.289         0.949          -1.019         0              0              0
  78  Cabinet         0.119          2.264          -2.0           0              0              0
  79  Cabinet         -0.459         2.264          -2.0           0              0              0
  80  CounterTop      -0.665         0.949          0.188          0              0              0
  81  Drawer          -0.449         0.75           -0.010         0              180            0
  82  Cabinet         -0.450         0.469          -0.009         0              0              0
  83  CounterTop      -0.630         1.167          0.573          0              0              0
  84  StoveBurner     -1.056         0.949          -1.126         0              0              0
  85  Cabinet         1.376          0.460          -1.685         0              0              0
  86  Drawer          -0.070         0.75           -0.009         0              180            0
  87  CounterTop      1.159          0.946          -2.013         0              0              0
  88  Cabinet         -1.150         2.264          -1.418         0              90             0
  89  HousePlant      -1.246         1.108          0.606          0              0              0
  90  GarbageCan      1.923          -0.010         0.137          0              0              0
  91  Shelf           2.759          0.880          0.144          0              0              0
  92  Microwave       1.827          0.900          -1.354         0              270            0
  93  Shelf           2.759          0.552          0.145          0              0              0
  94  Fridge          1.975          0.0            -0.537         0              0              0
  95  LightSwitch     0.404          1.297          2.0            0              180            0
  96  Shelf           2.760          0.172          0.145          0              0              0
  97  SinkBasin       -0.129         0.752          -2.007         0              0              0
  98  StoveKnob       -0.873         0.903          -0.827         45             90             0
  99  StoveKnob       -0.873         0.903          -0.676         45             90             0
 100  StoveKnob       -0.873         0.903          -0.966         45             90             0
 101  StoveKnob       -0.873         0.903          -1.123         45             90             0
 102  Toaster         0.840          0.900          -2.057         0              0              0
 103  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 104  ShelvingUnit    2.760          0.006          0.144          0              0              0
 105  Stool           -0.826         0.010          0.908          0              347.513        0
 106  Stool           -0.132         0.010          0.883          0              71.555         0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: walk over to the kitchen counter next to the microwave | STEP 2: grab the green sponge off of the kitchen counter | STEP 3: turn to face the microwave | STEP 4: put the green sponge in the cupboard below the microwave | END