Task: put a bowl with a sponge into the lower cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.930          -1.0           0              90             0
   1  Ladle           3.044          1.501          -1.697         0              0              0              59
   2  Ladle           2.915          0.214          0.841          0              270            0              70
   3  DishSponge      0.445          0.910          0.426          0              0              0              92
   4  ButterKnife     0.533          0.911          0.727          0              0              0              92
   5  ButterKnife     0.101          0.900          -1.588         0              0              0              82
   6  Glassbottle     2.971          0.176          -0.702         0              0              0              73
   7  Glassbottle     0.415          0.901          -1.373         0              0              0              82
   8  Kettle          -0.419         0.902          -1.269         0              315            0              63
   9  Spatula         0.967          0.923          0.747          0              90             0              92
  10  CellPhone       3.111          0.710          0.694          0              180            0              83
  11  Apple           1.164          0.785          -1.381         0              0              0              107
  12  Lettuce         -1.008         0.965          0.399          0              0              0              61
  13  SaltShaker      -0.659         0.324          -0.681         0              45             0              94
  14  PepperShaker    3.335          0.897          -0.279         0              0              0              60
  15  PepperShaker    3.070          0.709          -0.705         0              180            0              48
  16  Bowl            1.360          0.905          0.889          0              0              0              92
  17  SoapBottle      1.112          1.683          -1.410         0              0              0              52
  18  SoapBottle      0.887          0.920          0.827          0              0              0              92
  19  Egg             -1.052         1.050          1.258          0              90             0              109
  20  Egg             1.008          1.300          -1.448         0              0              0              107
  21  Plate           3.028          0.188          -0.404         0              0              0              72
  22  Plate           0.839          0.921          0.530          0              36.810         0              92
  23  Glassbottle     2.987          0.748          0.098          0              90             0              106
  24  SoapBottle      3.244          1.473          -1.382         0              0              0              75
  25  Potato          -1.052         1.036          1.470          0              90             0              109
  26  Fork            0.101          0.900          -1.731         0              0              0              82
  27  Ladle           -0.991         0.554          0.076          0              90             0              88
  28  Pot             -0.600         0.902          -1.090         0              135            0              50
  29  Kettle          3.141          0.176          -0.786         0              0              0              73
  30  Spatula         3.373          0.915          0.232          0              90             0              60
  31  Knife           0.336          0.925          -1.731         0              90             0              82
  32  Lettuce         1.008          1.139          -1.503         0              0              0              107
  33  Cup             -0.207         1.261          -1.527         0              45             0              78
  34  SaltShaker      -0.789         0.896          -0.494         0              0              0              61
  35  Egg             0.608          0.963          0.337          0              36.810         0              92
  36  PepperShaker    0.017          0.896          -1.239         0              45             0              82
  37  ButterKnife     -0.964         0.900          -0.667         0              45             0              61
  38  Apple           -0.789         0.974          0.846          0              0              0              61
  39  Pan             -0.789         0.899          -0.047         0              90             0              61
  40  Bread           -0.935         0.979          0.623          0              0              0              61
  41  CellPhone       -0.827         0.323          -0.098         0              0              0              66
  42  DishSponge      1.098          0.907          0.605          0              0              0              92
  43  Tomato          0.494          0.937          -1.803         0              0              0              82
  44  Spoon           0.422          0.132          -1.475         0              0              0              51
  45  Bowl            2.966          0.897          -0.599         0              0              0              60
  46  Mug             0.929          0.708          -1.381         0              0              0              107
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: turn to the left and move forward to the counter on the left, turn to the left to face the counter | STEP 2: pick up the sponge that is on the counter | STEP 3: move to the right corner of the counter | STEP 4: put the sponge in to the bowl that is on the right side of the counter | STEP 5: pick up the bowl with the sponge in it | STEP 6: turn to the left, move forwards and turn to the left to face the sink | STEP 7: open the lower cabinet door that is to the left of the sink, put the bowl with the sponge in to the cabinet to the right of the spoon and close the cabinet door  | END