Task: put the green sponge in the plate in the refrigerator, move the plate to the cabinet under sink

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           0.900          -3.0           0              270            0
   1  DishSponge      -3.942         0.690          -0.248         0              0              0              76
   2  ButterKnife     -3.565         0.894          -0.204         0              270            0              78
   3  Fork            -0.236         0.941          -1.319         0              0              0              59
   4  Egg             -3.665         0.801          -3.515         0              334.125        0              77
   5  Egg             -4.002         0.731          -0.430         0              0              0              76
   6  Cup             -0.263         0.943          -2.934         0              45             0              41
   7  Cup             -0.097         1.938          -1.055         0              0              0              49
   8  Plate           -3.496         0.774          -3.430         0              109.125        0              77
   9  Plate           -0.283         1.502          -0.529         0              270            0              71
  10  Knife           -3.747         0.785          -3.210         0              289.125        0              77
  11  Knife           -4.062         0.716          -0.187         0              180            0              76
  12  Tomato          -0.417         1.337          -0.645         0              270            0              71
  13  Tomato          -2.962         0.945          -0.376         0              270            0              78
  14  Bowl            -0.359         1.487          -0.762         0              270            0              71
  15  Bowl            -4.080         0.758          -3.227         0              109.125        0              77
  16  Bread           -3.163         0.976          -0.548         0              270            0              78
  17  Bread           -2.560         0.976          -0.376         0              270            0              78
  18  PepperShaker    -0.555         1.500          -3.620         0              45             0              53
  19  PepperShaker    -4.182         0.686          -0.126         0              0              0              76
  20  SoapBottle      -3.942         0.689          -0.491         0              90             0              76
  21  Pot             -3.230         0.761          -3.061         0              244.125        0              77
  22  Fork            -3.925         0.760          -3.399         0              334.125        0              77
  23  Cup             -3.580         0.760          -3.202         0              109.125        0              77
  24  Tomato          -0.252         1.337          -0.297         0              270            0              71
  25  Pan             -0.437         0.961          -2.243         0              0              0              44
  26  Plate           -0.201         1.589          -1.990         0              270            0              73
  27  Bread           -4.122         0.771          -0.369         0              0              0              76
  28  Spatula         -0.406         0.766          -2.632         0              270            0              46
  29  Knife           -2.560         0.920          -0.290         0              0              0              78
  30  SaltShaker      -0.552         0.937          -1.319         0              0              0              59
  31  PepperShaker    -3.942         0.686          -0.126         0              0              0              76
  32  ButterKnife     -0.315         0.941          -1.581         0              0              0              59
  33  Apple           -3.474         0.821          -3.765         0              334.125        0              77
  34  DishSponge      -0.236         0.940          -1.494         0              0              0              59
  35  Potato          -0.682         0.845          -3.531         0              315            0              70
  36  Egg             -0.818         0.854          -3.510         0              315            0              70
  37  Spoon           -0.157         0.942          -1.581         0              180            0              59
  38  Lettuce         -0.359         1.579          -0.297         0              270            0              71
  39  Mug             -0.527         0.808          -3.454         0              315            0              70
  40  Bowl            -0.252         1.284          -0.646         0              270            0              71
  41  CounterTop      -1.937         0.977          -3.673         0              0              0
  42  StoveBurner     -0.437         0.924          -1.845         0              180            0
  43  StoveBurner     -0.222         0.924          -1.845         0              180            0
  44  StoveBurner     -0.437         0.924          -2.243         0              0              0
  45  Drawer          -0.500         0.779          -1.450         0              0              0
  46  Drawer          -0.481         0.777          -2.739         0              0              0
  47  Drawer          -1.154         0.782          -3.499         0              0              0
  48  Cabinet         -0.337         2.110          -0.390         0              0              0
  49  Cabinet         -0.337         2.110          -1.272         0              0              0
  50  Cabinet         -0.337         2.110          -1.631         0              0              0
  51  Cabinet         -0.337         2.110          -2.497         0              0              0
  52  Cabinet         -0.337         1.891          -1.286         0              0              0
  53  Cabinet         -0.346         1.891          -3.293         0              0              0
  54  Cabinet         -0.629         0.388          -2.513         0              0              0
  55  Cabinet         -0.633         0.388          -3.008         0              0              0
  56  Cabinet         -1.010         0.388          -3.368         0              0              0
  57  Cabinet         -0.629         0.388          -1.614         0              0              0
  58  Cabinet         -0.327         1.886          -2.513         0              0              0
  59  CounterTop      -0.326         0.976          -1.450         0              0              0
  60  StoveBurner     -0.222         0.924          -2.243         0              0              0
  61  Sink            -0.600         0.929          -3.388         0              0              0
  62  StoveKnob       -0.617         0.899          -1.833         315            90             180
  63  StoveKnob       -0.617         0.899          -2.129         315            90             180
  64  StoveKnob       -0.617         0.899          -2.289         315            90             180
  65  StoveKnob       -0.617         0.899          -1.975         315            90             180
  66  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  67  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  68  Window          -1.389         1.610          -4.113         90             0              0
  69  LightSwitch     -4.372         1.493          -1.031         0              90             0
  70  SinkBasin       -0.614         0.802          -3.384         0              315            0
  71  Fridge          -0.314         0.0            -0.646         0              0              0
  72  Toaster         -1.970         0.930          -3.763         0              0              0
  73  Microwave       -0.216         1.470          -2.054         0              270            0
  74  Blinds          -1.373         2.205          -3.961         0              0              0
  75  Faucet          -0.393         0.930          -3.614         270            225            0
  76  SideTable       -4.030         0.002          -0.301         0              185.034        0
  77  DiningTable     -3.586         0.000          -3.258         0              0              0
  78  DiningTable     -3.224         -0.003         -0.453         0              0              0
  79  Shelf           -4.030         0.259          -0.301         0              185.034        0
  80  Shelf           -4.030         0.489          -0.301         0              185.034        0
  81  EastWall
  82  EastWall
  83  SouthWall

Plan:
STEP 1: turn right, walk to the counter in between the refrigerator, and the stove | STEP 2: grab the green sponge from the counter | STEP 3: walk to the left a little | STEP 4: open the refrigerator, put the green sponge on the plate in the refrigerator | STEP 5: take the plate out of the refrigerator, close the refrigerator | STEP 6: turn around, walk to the sink | STEP 7: put the plate in the cabinet under the sink | END