Task: To put away the dish and sponge.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          1.75           0              0              0
   1  Pan             1.567          0.948          -0.355         0              0              0              63
   2  DishSponge      1.528          1.659          -2.238         0              0              0              54
   3  DishSponge      1.259          0.880          2.510          0              0              0              93
   4  DishSponge      1.850          0.913          -2.252         0              0              0              67
   5  WineBottle      -0.047         0.927          1.220          0              0              0              84
   6  WineBottle      0.180          0.931          0.534          0              0              0              84
   7  Spoon           1.618          0.914          -1.918         0              90             0              67
   8  Spoon           0.180          0.931          0.762          0              0              0              84
   9  Fork            1.557          0.914          -1.446         0              0              0              67
  10  Fork            0.522          0.927          0.076          0              0              0              84
  11  Egg             -0.824         0.967          -2.134         0              0              0              67
  12  Egg             -0.283         0.818          -2.071         0              0              0              79
  13  Plate           1.850          0.916          -1.918         0              0              0              67
  14  Plate           1.670          0.556          2.431          0              0              0              93
  15  Knife           0.689          0.936          -2.002         0              0              0              67
  16  Bowl            -0.137         0.761          -2.071         0              90             0              79
  17  Lettuce         0.408          1.011          0.305          0              0              0              84
  18  SaltShaker      0.384          1.655          -2.125         0              0              0              56
  19  PepperShaker    -1.000         0.909          -2.115         0              0              0              67
  20  Bread           -0.047         0.972          0.762          0              0              0              84
  21  Mug             1.261          0.951          -1.934         0              0              0              77
  22  Mug             1.833          1.652          -1.479         0              270            0              58
  23  Apple           -0.616         0.984          -2.200         0              0              0              67
  24  Apple           0.180          1.001          1.448          0              0              0              84
  25  Apple           0.066          1.001          1.220          0              0              0              84
  26  Potato          0.457          0.942          -2.085         0              0              0              67
  27  Bowl            -1.380         0.856          -0.599         0              90             0              75
  28  SoapBottle      0.294          0.925          0.305          0              0              0              84
  29  Fork            0.294          0.931          1.448          0              0              0              84
  30  Ladle           0.180          0.975          0.305          0              0              0              84
  31  Bread           -0.047         0.975          0.305          0              0              0              84
  32  Lettuce         -1.553         1.264          -0.495         0              90             0              75
  33  WineBottle      1.771          0.881          2.537          0              0              0              94
  34  Spatula         0.008          0.779          -1.936         0              270            0              79
  35  Plate           -1.438         1.187          -0.702         0              90             0              75
  36  SaltShaker      -0.047         0.923          0.991          0              0              0              84
  37  Pot             1.845          0.948          -0.355         0              0              0              48
  38  Cup             0.180          0.930          1.220          0              0              0              84
  39  PepperShaker    -0.963         0.909          -2.224         0              0              0              67
  40  Pan             1.631          0.120          -1.397         0              180            0              61
  41  ButterKnife     1.919          0.913          -1.329         0              0              0              67
  42  Tomato          0.294          0.982          0.076          0              0              0              84
  43  DishSponge      1.557          0.913          -1.329         0              0              0              67
  44  Egg             -1.572         1.558          -0.392         0              90             0              75
  45  Spoon           0.294          0.928          0.991          0              0              0              84
  46  Knife           -0.113         0.936          -1.762         0              0              0              67
  47  Mug             1.738          0.908          -1.095         0              0              0              67
  48  StoveBurner     1.845          0.940          -0.355         0              0              0
  49  StoveBurner     1.567          0.940          -0.757         0              0              0
  50  Cabinet         -1.149         2.019          -1.979         0              90             0
  51  Cabinet         -1.149         2.265          -0.834         0              90             0
  52  Cabinet         -0.459         2.265          -2.0           0              0              0
  53  Cabinet         -1.100         2.019          -2.0           0              0              0
  54  Cabinet         1.719          2.019          -2.0           0              0              0
  55  Cabinet         1.179          2.019          -2.0           0              0              0
  56  Cabinet         0.199          2.019          -2.0           0              0              0
  57  Cabinet         1.75           2.019          -1.399         0              270            0
  58  Cabinet         1.75           2.019          -1.029         0              270            0
  59  Cabinet         1.379          0.469          -1.689         0              0              0
  60  Cabinet         -0.819         0.469          -1.689         0              0              0
  61  Cabinet         1.389          0.469          -1.059         0              270            0
  62  Cabinet         -0.839         0.469          -1.665         0              90             0
  63  StoveBurner     1.567          0.940          -0.355         0              0              0
  64  StoveBurner     1.845          0.940          -0.757         0              0              0
  65  Sink            -0.109         0.893          -2.009         0              0              0
  66  Drawer          -0.819         0.75           -1.690         0              0              0
  67  CounterTop      0.232          0.949          -2.002         0              0              0
  68  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  69  Vase            0.251          0.546          0.475          0              270            0
  70  Toaster         0.780          0.900          -2.080         0              0              0
  71  LightSwitch     0.108          1.315          2.75           0              180            0
  72  Vase            0.400          0.925          0.218          0              180            0
  73  Microwave       -1.233         0.900          -1.680         0              90             0
  74  Vase            1.465          1.662          -2.200         0              0              0
  75  Fridge          -1.495         0.0            -0.703         0              0              0
  76  Window          2.114          1.495          1.072          90             270            0
  77  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  78  Vase            0.333          0.546          1.272          0              270            0
  79  SinkBasin       -0.148         0.753          -2.026         0              0              0
  80  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  81  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  82  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  83  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  84  DiningTable     0.170          0.005          0.678          0              270            0
  85  Shelf           0.170          0.155          0.678          0              270            0
  86  Shelf           1.605          0.172          2.480          0              0              0
  87  Shelf           1.605          0.552          2.480          0              0              0
  88  Shelf           1.604          0.880          2.479          0              0              0
  89  ShelvingUnit    1.605          0.006          2.480          0              0              0
  90  Faucet          -0.143         1.028          -2.223         0              270            0
  91  Stool           -0.553         0.000          0.871          1.233          280.376        0
  92  Shelf           0.170          0.528          0.678          0              270            0
  93
  94
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn around and walk across the room to the counter.  | STEP 2: Look up and open the cupboard on the left to take out the green sponge.  | STEP 3: Look down then turn around and take one step, then turn left and walk across the room to the fridge.  | STEP 4: Open the fridge and put the sponge in the glass bowl.  | STEP 5: Take the glass bowl with the sponge in it out of the fridge.  | STEP 6: Turn around and take two steps, then turn right and right again and look down.  | STEP 7: Open the cabinet to the left of the fridge and put the bowl and sponge inside.  | END