Task: Put the green sponge and pan under the sink

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            0.900          0.75           0              180            0
   1  Potato          -0.335         1.142          0.504          0              0              0              51
   2  Cup             0.217          1.109          -0.506         0              0              0              51
   3  Cup             0.453          0.908          -2.330         0              0              0              53
   4  Egg             -0.277         1.825          -2.482         0              0              0              77
   5  Tomato          0.969          0.949          -2.407         0              0              0              53
   6  SoapBottle      -0.995         0.912          -2.406         0              0              0              76
   7  SoapBottle      -1.907         0.048          1.933          0              270            0              82
   8  Apple           -2.163         0.591          1.168          0              90             0              84
   9  Apple           -0.122         1.841          -2.610         0              0              0              77
  10  Knife           -0.335         1.136          -0.506         0              0              0              51
  11  Fork            -1.963         0.770          -1.587         0              90             0              86
  12  Spoon           1.066          0.316          -2.334         0              0              0              55
  13  Spatula         -1.797         0.784          -1.328         0              0              0              86
  14  WineBottle      -1.937         0.912          -0.513         0              0              0              76
  15  WineBottle      -1.935         0.048          2.029          0              270            0              82
  16  Book            0.155          1.1            0.617          0              315            0              51
  17  Glassbottle     1.686          0.881          -2.590         0              180            0              78
  18  Knife           -0.059         1.136          -0.253         0              0              0              51
  19  Bread           0.355          1.184          0.251          0              0              0              51
  20  Fork            0.355          1.112          -0.253         0              0              0              51
  21  Potato          0.582          0.941          -2.714         0              0              0              53
  22  SoapBottle      -1.653         0.155          -0.197         0              90             0              74
  23  Kettle          -0.465         0.950          -2.576         0              90             0              60
  24  Pan             0.721          0.9            -2.415         0              0              0              53
  25  Plate           -0.848         0.908          -2.637         0              0              0              76
  26  Tomato          -2.081         1.542          1.092          0              90             0              84
  27  Vase            -0.059         1.113          -0.759         0              0              0              51
  28  Egg             -2.163         1.538          1.260          0              90             0              84
  29  CreditCard      0.777          0.643          -2.333         0              0              0              56
  30  Statue          0.079          1.110          -0.001         0              0              0              51
  31  WineBottle      1.891          0.881          -2.536         0              180            0              78
  32  Pot             -0.036         0.950          -2.576         0              270            0              54
  33  Spatula         0.582          0.925          -2.560         0              0              0              53
  34  PaperTowelRoll  1.478          0.657          -2.407         0              0              0              81
  35  Cup             1.582          0.550          -2.666         0              180            0              81
  36  Vase            -1.438         0.909          -2.483         0              0              0              76
  37  Bowl            1.582          0.549          -2.511         0              180            0              81
  38  SaltShaker      -0.197         1.107          0.251          0              0              0              51
  39  PepperShaker    -1.290         0.907          -2.560         0              0              0              76
  40  Lettuce         0.969          0.990          -2.560         0              0              0              53
  41  ButterKnife     -1.963         0.769          -1.414         0              270            0              86
  42  Apple           -2.162         0.849          1.334          0              90             0              84
  43  DishSponge      2.100          0.552          -2.562         0              180            0              81
  44  Spoon           -1.739         0.795          0.155          0              90             0              48
  45  Mug             -1.731         0.956          -0.168         0              90             0              85
  46  StoveBurner     -0.036         0.915          -2.372         0              0              0
  47  Drawer          0.949          0.832          -2.197         0              0              0
  48  Drawer          -1.560         0.839          0.204          0              90             0
  49  StoveBurner     -0.465         0.915          -2.371         0              180            0
  50  Drawer          -1.560         0.839          -0.197         0              90             0
  51  CounterTop      -0.079         1.147          -0.001         0              0              0
  52  Cabinet         -1.549         0.494          -1.964         0              90             0
  53  CounterTop      0.693          0.946          -2.483         0              0              0
  54  StoveBurner     -0.036         0.915          -2.576         0              0              0
  55  Drawer          0.949          0.393          -2.200         0              0              0
  56  Drawer          0.949          0.708          -2.200         0              0              0
  57  Cabinet         -1.549         0.494          0.379          0              90             0
  58  StoveKnob       -0.022         0.881          -2.187         45             0              0
  59  Drawer          0.949          0.560          -2.201         0              0              0
  60  StoveBurner     -0.465         0.915          -2.575         0              180            0
  61  Window          -2.230         1.429          -1.203         0              0              0
  62  StoveKnob       -0.483         0.881          -2.187         45             0              0
  63  Sink            -1.899         0.964          -1.5           0              90             0
  64  StoveKnob       -0.328         0.881          -2.187         45             0              0
  65  Cabinet         -0.727         2.015          -2.460         0              0              0
  66  Drawer          -1.560         0.655          -0.196         0              90             0
  67  Cabinet         -1.685         2.015          -2.461         0              0              0
  68  Cabinet         0.680          0.494          -2.200         0              0              0
  69  Cabinet         -1.179         0.494          -2.200         0              0              0
  70  Cabinet         -1.849         2.015          0.379          0              90             0
  71  Drawer          0.949          0.221          -2.200         0              0              0
  72  StoveKnob       -0.183         0.881          -2.187         45             0              0
  73  Cabinet         0.719          2.015          -2.460         0              0              0
  74  Drawer          -1.560         0.331          -0.196         0              90             0
  75  Cabinet         0.680          2.015          -2.460         0              0              0
  76  CounterTop      -1.868         0.946          -1.205         0              0              0
  77  Microwave       -0.236         1.689          -2.525         0              0              0
  78  Shelf           1.751          0.880          -2.560         0              0              0
  79  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  80  Toaster         -1.835         0.900          0.134          0              90             0
  81  Shelf           1.750          0.552          -2.559         0              0              0
  82  GarbageCan      -1.935         -0.002         2.029          0              270            0
  83  Shelf           1.750          0.172          -2.559         0              0              0
  84  Fridge          -2.096         0.0            1.088          0              0              0
  85  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  86  SinkBasin       -1.908         0.759          -1.488         0              90             0
  87  LightSwitch     2.329          1.309          -0.159         0              270            0
  88  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  89  Stool           0.702          0.000          -0.514         1.202          65.108         0
  90  Stool           0.743          0.000          0.563          1.227          106.706        0
  91  Faucet          -2.070         1.132          -1.514         0              0              0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Head to the shelf across the kitchen | STEP 2: Take the green sponge from the shelf | STEP 3: Turn around, head to the counter | STEP 4: Put the green sponge in the pan on the counter | STEP 5: Turn around, head to the sink | STEP 6: Open the cabinet door under the sink | STEP 7: Put the pan in the cabinet | END