Task: Put a bowl with a sponge in it in the cupboard.

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          1.5            0              0              0
   1  Pan             0.066          0.926          0.991          0              90             0              81
   2  Potato          1.850          0.942          -2.252         0              0              0              64
   3  Ladle           1.909          1.702          -1.673         0              270            0              54
   4  DishSponge      1.255          0.552          2.586          0              0              0              90
   5  WineBottle      1.850          0.914          -2.169         0              0              0              64
   6  Spoon           0.522          0.928          1.220          0              0              0              81
   7  Spoon           1.618          0.914          -1.918         0              90             0              64
   8  Fork            1.850          0.914          -2.002         0              0              0              64
   9  Egg             -0.356         0.818          -1.981         0              0              0              76
  10  Cup             0.066          0.927          0.076          0              0              0              81
  11  Cup             1.466          0.913          -1.446         0              0              0              64
  12  Plate           1.773          0.556          2.482          0              0              0              84
  13  Knife           0.002          0.936          -1.725         0              0              0              64
  14  Tomato          -0.616         0.965          -2.167         0              0              0              64
  15  SoapBottle      -0.824         0.912          -2.167         0              0              0              64
  16  SoapBottle      1.833          1.656          -1.802         0              270            0              54
  17  Bowl            -1.495         1.180          -0.703         0              90             0              72
  18  SaltShaker      -0.963         0.909          -2.224         0              0              0              64
  19  SaltShaker      1.647          0.909          -1.446         0              0              0              64
  20  PepperShaker    0.294          0.926          0.305          0              0              0              81
  21  PepperShaker    -1.355         1.655          -1.604         0              90             0              47
  22  Apple           -1.284         1.086          -1.846         0              90             0              70
  23  Potato          -0.047         0.956          1.220          0              0              0              81
  24  Bowl            0.180          0.923          0.534          0              0              0              81
  25  SoapBottle      -0.047         0.929          0.762          0              0              0              81
  26  Fork            0.180          0.927          1.220          0              0              0              81
  27  Ladle           0.444          1.703          -2.162         0              0              0              53
  28  Bread           -0.047         0.972          0.305          0              0              0              81
  29  Lettuce         0.408          1.011          1.448          0              0              0              81
  30  WineBottle      1.590          1.660          -2.238         0              0              0              51
  31  Spatula         0.235          0.928          -1.737         0              0              0              64
  32  Plate           0.408          0.934          0.762          0              0              0              81
  33  SaltShaker      -0.047         0.926          0.534          0              0              0              81
  34  Pot             1.845          0.948          -0.355         0              0              0              45
  35  Cup             -1.438         1.183          -0.495         0              90             0              72
  36  PepperShaker    0.034          2.147          -2.120         0              0              0              49
  37  Pan             1.567          0.948          -0.757         0              0              0              46
  38  ButterKnife     0.921          0.913          -1.751         0              0              0              64
  39  Tomato          1.466          0.965          -1.212         0              0              0              64
  40  DishSponge      1.181          0.118          -1.860         0              0              0              56
  41  Egg             1.557          0.967          -1.329         0              0              0              64
  42  Spoon           -0.210         0.765          -2.071         0              0              0              76
  43  Knife           0.066          0.953          1.448          0              0              0              81
  44  Mug             1.690          0.115          -1.463         0              270            0              58
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn around take a step then turn left and walk to the table then turn right and walk past the table to your left and when you get past it turn left and walk to the stove then turn right and walk to the counter. | STEP 2: Open the cupboard to the left of the dishwasher and get the sponge from under there and then close the door. | STEP 3: Turn around and take a step then turn left and walk to the fridge. | STEP 4: Open the fridge and put the sponge in the bowl to the left of a cup. | STEP 5: Pick up the bowl with t he sponge in it then close the fridge. | STEP 6: Turn around and take a step then turn right. | STEP 7: Put the bowl in the cupboard to the right of the sink under the tomato and then close it's door. | END