Task: Put a plate with a sponge on it in a 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              0              0
   1  Pan             0.394          1.110          1.325          0              315            0              67
   2  CreditCard      0.254          0.744          -1.138         0              0              0              75
   3  ButterKnife     -2.843         0.911          -1.115         0              0              0              74
   4  Kettle          -2.823         0.928          -0.711         0              0              0              71
   5  Pot             -2.823         0.928          -0.396         0              0              0              73
   6  Spoon           -0.039         1.112          1.608          0              315            0              67
   7  Spoon           0.307          0.748          -1.095         0              0              0              75
   8  Fork            0.688          0.911          -1.115         0              0              0              74
   9  Spatula         -2.687         0.926          -0.147         0              0              0              66
  10  Cup             -2.619         1.671          0.690          0              90             0              86
  11  Egg             0.241          1.040          -1.347         0              0              0              87
  12  Knife           -2.456         0.769          0.226          0              270            0              72
  13  Knife           0.721          1.134          1.306          0              315            0              67
  14  SoapBottle      -0.146         1.112          1.413          0              315            0              67
  15  Tomato          0.997          0.960          -0.948         0              0              0              74
  16  PepperShaker    -0.887         1.658          -1.322         0              0              0              63
  17  PepperShaker    0.144          1.108          1.422          0              315            0              67
  18  SaltShaker      0.133          1.108          1.737          0              315            0              67
  19  Mug             -1.246         0.844          -1.305         0              0              0              84
  20  Mug             -0.767         0.906          -1.449         0              0              0              84
  21  Apple           0.451          1.060          -1.381         0              0              0              87
  22  Pan             -2.59          0.9            -1.147         0              0              0              74
  23  Apple           -2.786         0.087          1.431          0              0              0              85
  24  Fork            0.359          0.746          -1.095         0              90             0              75
  25  Kettle          -1.569         0.118          -1.031         0              0              0              51
  26  CreditCard      -0.051         1.108          1.856          0              315            0              67
  27  Bread           -0.401         0.948          -1.291         0              0              0              74
  28  Plate           -1.458         0.843          -1.235         0              0              0              84
  29  SoapBottle      -2.884         1.666          0.166          0              0              0              60
  30  Spatula         -2.521         0.926          0.190          0              90             0              66
  31  Lettuce         -2.660         0.874          0.983          31.046         0              0              86
  32  SaltShaker      -0.662         0.907          -1.449         0              0              0              74
  33  Tomato          -2.860         0.427          1.094          0              90             0              86
  34  PepperShaker    -2.698         1.791          -0.340         0              0              0              46
  35  ButterKnife     -2.843         0.911          -1.282         0              0              0              74
  36  Pot             0.990          1.112          0.883          0              315            0              67
  37  Potato          -0.598         0.933          -1.119         0              47.530         0              74
  38  DishSponge      -1.221         0.841          -1.126         0              41.164         0              84
  39  Egg             -1.505         0.884          -1.084         0              0              0              84
  40  Spoon           -1.591         0.850          -1.139         0              270            0              84
  41  Knife           -2.542         0.769          0.226          0              270            0              72
  42  Cup             0.586          1.110          0.825          0              315            0              67
  43  Mug             -2.740         1.668          0.932          0              90             0              86
  44  Bowl            -2.860         0.818          0.690          0              90             0              86
  45  Cabinet         -2.647         2.075          -0.875         0              0              0
  46  Cabinet         -2.647         2.075          -0.234         0              0              0
  47  Cabinet         -0.824         0.469          -0.907         0              0              0
  48  Cabinet         -1.764         2.009          -1.197         0              0              0
  49  Cabinet         -1.834         2.009          -1.197         0              0              0
  50  Cabinet         -1.850         0.389          -0.897         0              0              0
  51  Cabinet         -1.801         0.469          -0.907         0              0              0
  52  Cabinet         1.115          2.009          -1.197         0              0              0
  53  Cabinet         0.235          2.009          -1.197         0              0              0
  54  Cabinet         1.125          0.470          -0.897         0              0              0
  55  Cabinet         -2.387         0.389          0.375          0              0              0
  56  Cabinet         0.484          0.389          -0.897         0              0              0
  57  Cabinet         -2.625         2.009          -1.197         0              0              0
  58  Cabinet         -2.647         2.009          -0.945         0              0              0
  59  Cabinet         -2.647         2.200          1.664          0              0              0
  60  Cabinet         -2.647         2.009          0.364          0              0              0
  61  Cabinet         0.164          2.009          -1.197         0              0              0
  62  Cabinet         -0.765         2.009          -1.197         0              0              0
  63  Cabinet         -0.834         2.009          -1.197         0              0              0
  64  Cabinet         -2.647         2.200          0.434          0              0              0
  65  StoveBurner     -2.622         0.886          -0.711         0              0              0
  66  CounterTop      -2.699         0.946          0.106          0              0              0
  67  CounterTop      0.908          1.147          0.788          0              315            0
  68  StoveBurner     -2.622         0.886          -0.396         0              0              0
  69  Drawer          -2.026         0.779          -1.082         0              0              0
  70  Sink            -1.328         0.916          -1.225         0              0              0
  71  StoveBurner     -2.822         0.886          -0.711         0              0              0
  72  Drawer          -2.572         0.779          0.099          0              0              0
  73  StoveBurner     -2.822         0.886          -0.396         0              0              0
  74  CounterTop      0.071          0.946          -1.199         0              0              0
  75  Drawer          0.254          0.779          -1.082         0              0              0
  76  LightSwitch     -1.167         1.307          3.0            0              180            0
  77  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  78  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  79  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  80  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  81  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  82  Window          0.321          1.449          3.088          90             0              0
  83  Toaster         -2.823         0.899          0.246          0              90             0
  84  SinkBasin       -1.344         0.838          -1.25          0              0              0
  85  GarbageCan      -2.757         1.886          1.466          0              0              0
  86  Fridge          -2.855         0.0            0.851          0              0              0
  87  Microwave       0.283          0.900          -1.331         0              0              0
  88  Stool           1.541          0.010          1.328          0              45             0
  89  Stool           0.983          0.010          1.793          0              47.459         0
  90  Faucet          -1.392         1.136          -1.399         0              270            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn around and walk over to the sink. | STEP 2: Pick up the sponge out of the sink. | STEP 3: Turn right and take a step forward, then turn left to face the sink. | STEP 4: Put the sponge on the black plate that is in the sink. | STEP 5: Pick up the black plate with the sponge on it. | STEP 6: Turn left and walk over to the wall, then turn right and look up at the upper cabinets. | STEP 7: Open the leftmost upper cabinet and put the plate with the sponge on it inside, then close the door. | END