Task: place a sponge in a glass bowl on an overhead drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.930          1.25           0              0              0
   1  DishSponge      -0.917         1.257          -0.811         0              45             0              77
   2  ButterKnife     -0.868         0.326          1.518          0              0              0              93
   3  ButterKnife     -1.008         0.900          0.399          0              0              0              58
   4  Glassbottle     0.063          0.901          -1.286         0              45             0              79
   5  Glassbottle     0.491          0.908          0.181          0              36.810         0              89
   6  Kettle          3.028          0.176          -0.744         0              0              0              70
   7  Spatula         -0.786         0.532          1.518          0              0              0              46
   8  Spatula         -0.868         0.145          -0.273         0              90             0              78
   9  Spoon           0.889          0.909          0.249          0              126.810        0              89
  10  Fork            -0.991         0.131          -0.186         0              90             0              78
  11  CellPhone       0.887          0.905          0.426          0              0              0              89
  12  Apple           -1.052         1.071          1.258          0              90             0              106
  13  Apple           1.086          1.147          -1.503         0              0              0              104
  14  Lettuce         1.229          0.973          0.889          0              0              0              89
  15  Bowl            0.533          0.908          0.527          0              0              0              89
  16  SoapBottle      3.113          1.473          -1.599         0              0              0              56
  17  SoapBottle      3.146          1.273          -0.854         0              0              0              71
  18  Egg             1.242          0.766          -1.354         0              0              0              104
  19  Plate           -0.953         0.886          0.699          0              0              0              58
  20  Glassbottle     3.182          0.101          1.653          0              225            0              99
  21  SoapBottle      2.888          0.909          0.870          0              0              0              57
  22  Potato          -1.066         0.938          -0.770         0              45             0              58
  23  Fork            2.988          0.713          -0.361         0              180            0              54
  24  Ladle           -0.868         0.555          0.576          0              0              0              55
  25  Pot             -0.239         0.902          -1.089         0              315            0              87
  26  Kettle          -0.600         0.902          -1.090         0              135            0              47
  27  Spatula         3.070          0.762          0.098          0              90             0              103
  28  Knife           -0.007         0.925          -1.728         0              135            0              79
  29  Lettuce         0.887          0.976          0.627          0              0              0              89
  30  Cup             -0.748         0.898          -0.881         0              45             0              58
  31  SaltShaker      -0.624         0.896          -0.702         0              45             0              58
  32  Egg             1.098          0.960          0.322          0              0              0              89
  33  PepperShaker    3.044          1.460          -1.501         0              0              0              56
  34  ButterKnife     2.966          0.900          -0.599         0              0              0              57
  35  Apple           -1.052         1.071          1.470          0              90             0              106
  36  Pan             0.341          0.873          -1.649         0              167.065        0              79
  37  Bread           0.836          0.989          0.410          0              36.810         0              89
  38  CellPhone       -0.884         0.897          -0.746         0              45             0              58
  39  DishSponge      0.808          1.674          -1.480         0              0              0              73
  40  Tomato          3.044          0.937          -0.698         0              0              0              57
  41  Spoon           -0.141         0.901          -1.491         0              45             0              79
  42  Bowl            -0.862         0.897          0.399          0              0              0              58
  43  Mug             0.713          1.669          -1.759         0              0              0              73
  44  Drawer          0.376          0.572          -1.509         0              0              0
  45  Drawer          3.020          0.769          -0.783         0              180            0
  46  Drawer          -0.860         0.577          1.429          0              0              0
  47  StoveBurner     -0.600         0.897          -1.090         0              135            0
  48  Drawer          0.376          0.191          -1.509         0              0              0
  49  Cabinet         1.402          1.874          -1.259         0              0              0
  50  Cabinet         -0.202         1.963          -1.328         0              0              0
  51  Drawer          -0.860         0.765          1.429          0              0              0
  52  Drawer          -0.677         0.765          -0.700         0              0              0
  53  StoveBurner     -0.420         0.897          -0.920         0              135            0
  54  Drawer          3.020          0.769          -0.407         0              180            0
  55  Drawer          -0.860         0.577          0.663          0              0              0
  56  Cabinet         2.819          1.768          -1.850         0              0              0
  57  CounterTop      3.111          0.936          0.019          0              0              0
  58  CounterTop      -1.007         0.935          -0.039         0              0              0
  59  Drawer          -0.860         0.385          0.663          0              0              0
  60  StoveBurner     -0.419         0.897          -1.269         0              315            0
  61  Drawer          -0.047         0.573          -1.324         0              0              0
  62  Drawer          -0.860         0.765          0.663          0              0              0
  63  Drawer          -0.860         0.385          -0.100         0              0              0
  64  Drawer          0.376          0.380          -1.509         0              0              0
  65  Drawer          -0.860         0.765          -0.100         0              0              0
  66  Drawer          0.376          0.765          -1.509         0              0              0
  67  Cabinet         2.849          0.419          0.409          0              0              0
  68  Drawer          -0.047         0.765          -1.324         0              0              0
  69  Cabinet         2.849          0.419          -0.610         0              0              0
  70  Cabinet         2.849          0.419          -0.959         0              0              0
  71  Cabinet         3.069          1.666          -0.709         0              0              0
  72  Cabinet         2.819          1.768          -1.047         0              0              0
  73  Cabinet         0.620          1.874          -1.259         0              0              0
  74  Cabinet         0.140          1.666          -1.559         0              0              0
  75  Cabinet         -0.189         1.666          -1.340         0              0              0
  76  Cabinet         -0.709         1.963          -0.819         0              0              0
  77  Cabinet         -0.920         1.665          -0.620         0              0              0
  78  Drawer          -0.860         0.190          -0.100         0              0              0
  79  CounterTop      0.133          0.935          -1.457         0              0              0
  80  Drawer          3.020          0.769          0.695          0              180            0
  81  Drawer          -0.677         0.577          -0.700         0              0              0
  82  Drawer          -0.860         0.190          1.429          0              0              0
  83  Drawer          -0.047         0.192          -1.324         0              0              0
  84  Drawer          -0.677         0.193          -0.700         0              0              0
  85  Drawer          -0.860         0.577          -0.100         0              0              0
  86  Sink            3.078          0.887          0.086          0              0              0
  87  StoveBurner     -0.239         0.897          -1.089         0              315            0
  88  Drawer          -0.860         0.190          0.663          0              0              0
  89  CounterTop      1.210          0.937          0.463          0              0              0
  90  Drawer          -0.047         0.381          -1.324         0              0              0
  91  Drawer          -0.677         0.387          -0.700         0              0              0
  92  Mirror          -1.295         1.630          0.045          0              0              0
  93  Drawer          -0.860         0.385          1.429          0              0              0
  94  HousePlant      3.196          0.891          -0.368         0              0              0
  95  StoveKnob       -0.090         0.790          -1.009         270            45             0
  96  StoveKnob       -0.280         0.790          -0.819         270            45             0
  97  StoveKnob       -0.180         0.790          -0.920         270            45             0
  98  StoveKnob       -0.370         0.790          -0.720         270            45             0
  99  GarbageCan      3.137          0.025          1.545          0              225            0
 100  Window          3.703          1.675          0.046          90             90             0
 101  CoffeeMachine   3.214          0.890          0.697          0              270            0
 102  LightSwitch     2.592          1.309          -1.880         0              0              0
 103  SinkBasin       3.069          0.736          0.108          0              90             0
 104  Fridge          1.008          0.029          -1.467         0              0              0
 105  Toaster         -1.035         0.873          -0.396         0              90             0
 106  Microwave       -1.034         0.874          1.428          0              90             0
 107  Faucet          3.305          0.886          0.094          270            180            0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: turn around and head for the over head drawer | STEP 2: take out the sponge in the drawer | STEP 3: turn right and head to the table | STEP 4: drop the sponge on glass bowl on the table  | STEP 5: pick up the glass bowl from the table | STEP 6: head up to the drawer | STEP 7: place the glass bowl in the drawer | END