Task: put a blue plate with a sponge on it on top of the white kitchen table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          -0.5           0              270            0
   1  Kettle          1.781          0.913          -1.654         0              0              0              48
   2  Potato          0.804          0.949          -1.782         0              270            0              46
   3  Potato          -1.872         1.522          -1.763         0              0              0              78
   4  DishSponge      1.828          1.328          -1.883         0              180            0              64
   5  DishSponge      1.846          0.911          0.623          0              0              0              63
   6  ButterKnife     0.753          0.919          -1.649         0              270            0              46
   7  ButterKnife     0.167          0.912          0.209          0              0              0              47
   8  Pot             1.007          0.962          0.561          0              270            0              50
   9  Spoon           1.824          0.774          0.306          0              0              0              49
  10  Egg             -0.267         0.947          -1.903         0              0              0              48
  11  Egg             -0.361         0.105          0.439          0              90             0              77
  12  Knife           -0.267         0.937          -1.489         0              0              0              48
  13  Bowl            -0.538         0.110          -1.545         0              0              0              62
  14  PepperShaker    1.846          0.908          0.209          0              0              0              63
  15  PepperShaker    1.785          0.908          0.706          0              0              0              63
  16  Bread           1.724          0.995          0.292          0              0              0              63
  17  Apple           -2.31          0.578          -1.763         0              0              0              78
  18  Apple           -2.135         1.559          -1.720         0              0              0              78
  19  Bread           0.035          0.995          0.292          0              0              0              47
  20  Knife           1.165          0.906          -1.656         90             285.000        0              48
  21  Fork            1.724          0.912          0.623          0              0              0              63
  22  Bowl            1.412          0.911          -1.571         0              0              0              48
  23  Kettle          -0.055         0.9            0.643          0              0              0              47
  24  Cup             1.608          1.327          -1.772         0              180            0              64
  25  Tomato          -2.047         1.100          -1.720         0              0              0              78
  26  SoapBottle      -0.300         0.109          -1.508         0              0              0              57
  27  Plate           -2.047         0.781          -1.763         0              0              0              78
  28  Pot             1.361          0.962          0.561          0              270            0              53
  29  Spatula         -0.267         0.927          -1.820         0              0              0              48
  30  PaperTowelRoll  1.264          1.012          -1.861         0              0              0              48
  31  Egg             1.601          0.947          0.458          0              0              0              63
  32  Lettuce         0.851          1.001          -1.537         0              231.490        0              46
  33  SaltShaker      0.209          0.104          -1.584         0              180            0              57
  34  PepperShaker    1.907          0.908          0.458          0              0              0              63
  35  Apple           -0.362         0.137          0.569          0              90             0              77
  36  ButterKnife     1.711          0.9            0.273          0              318.152        0              63
  37  Potato          -2.047         1.522          -1.849         0              0              0              78
  38  Pan             1.022          0.959          0.288          0              219.190        0              60
  39  DishSponge      1.907          0.911          0.375          0              0              0              63
  40  Spoon           -0.449         0.775          -1.538         0              90             0              52
  41  Mug             0.394          0.103          -1.472         0              180            0              45
  42  Cabinet         -0.193         1.688          -1.648         0              180            0
  43  StoveBurner     1.360          0.957          0.293          0              180            0
  44  Drawer          0.499          0.792          0.296          0              0              0
  45  Cabinet         0.095          0.400          -1.352         0              180            0
  46  Sink            0.711          0.817          -1.772         0              270            0
  47  CounterTop      0.280          0.947          0.458          0              0              0
  48  CounterTop      -0.680         0.947          -1.654         0              0              0
  49  Drawer          1.825          0.792          0.296          0              0              0
  50  StoveBurner     1.007          0.957          0.561          0              270            0
  51  Drawer          -0.150         0.792          -1.496         0              0              0
  52  Drawer          -0.586         0.792          -1.496         0              0              0
  53  StoveBurner     1.360          0.957          0.561          0              270            0
  54  Drawer          0.024          0.792          0.296          0              0              0
  55  Cabinet         1.079          0.400          -1.349         0              180            0
  56  Cabinet         1.669          0.402          0.151          0              0              0
  57  Cabinet         0.055          0.402          -1.351         0              0              0
  58  Cabinet         -0.180         0.402          0.151          0              0              0
  59  Cabinet         0.729          0.402          0.151          0              0              0
  60  StoveBurner     1.007          0.957          0.293          0              180            0
  61  Drawer          -1.100         0.792          -1.496         0              0              0
  62  Cabinet         -0.396         0.402          -1.351         0              0              0
  63  CounterTop      1.776          0.947          0.458          0              0              0
  64  Cabinet         1.974          1.688          -1.648         0              180            0
  65  Cabinet         -0.820         0.400          -1.349         0              180            0
  66  Toaster         0.305          0.900          0.552          0              180            0
  67  LightSwitch     -2.756         1.307          -0.987         0              90             0
  68  Window          0.582          1.613          -1.967         90             0              0
  69  Window          1.969          1.5            -0.615         90             270            0
  70  Microwave       -1.037         0.900          -1.723         0              0              0
  71  SinkBasin       0.377          0.765          -1.655         0              270            0
  72  CoffeeMachine   0.618          0.900          0.600          0              180            0
  73  StoveKnob       1.246          0.913          0.118          45             180            0
  74  StoveKnob       1.373          0.913          0.118          45             180            0
  75  StoveKnob       0.995          0.913          0.118          45             180            0
  76  StoveKnob       1.126          0.913          0.118          45             180            0
  77  GarbageCan      -0.368         -0.029         0.539          0              90             0
  78  Fridge          -2.134         0.0            -1.690         0              0              0
  79  Faucet          0.549          1.046          -1.833         0              232.527        0
  80  Stool           -1.475         0.000          0.414          1.233          280.375        0
  81  DiningTable     -2.255         -0.004         0.432          0              0              0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: walk over to the kitchen counter to the right of the stove | STEP 2: grab the green sponge off of the kitchen counter | STEP 3: walk on over to the fridge | STEP 4: place the sponge on top of the blue plate inside the fridge | STEP 5: grab the blue plate out of the fridge | STEP 6: turn around and walk over to the white square table | STEP 7: place the blue plate on top of the white table | END