Task: Put the pot with sponge on the left side of the round table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          3.0            0              270            0
   1  Pan             0.974          0.957          -1.688         0              180            0              56
   2  Vase            -1.849         0.913          0.363          0              0              0              57
   3  Potato          0.307          0.839          2.251          0              180            0              82
   4  ButterKnife     0.289          0.928          -1.573         0              270            0              54
   5  Kettle          1.328          0.957          -1.420         0              180            0              61
   6  WineBottle      0.036          0.115          -1.487         0              0              0              65
   7  WineBottle      -1.888         1.658          -1.710         0              0              0              53
   8  Fork            0.124          0.929          -1.501         0              270            0              54
   9  Spoon           -0.330         0.708          -1.573         0              270            0              86
  10  Spoon           1.568          0.720          -1.443         0              90             0              73
  11  Cup             0.069          0.927          -1.790         0              270            0              54
  12  Plate           1.157          1.765          -1.629         0              0              0              81
  13  SoapBottle      -1.331         1.657          -1.674         0              0              0              70
  14  SoapBottle      3.689          0.881          1.861          0              270            0              78
  15  Tomato          -1.160         0.959          -1.267         0              0              0              57
  16  Tomato          -2.912         0.922          2.758          0              225            0              59
  17  Bowl            -0.034         0.800          2.194          0              180            0              82
  18  Bowl            -0.263         1.570          2.100          0              180            0              82
  19  SaltShaker      0.525          0.908          -1.674         0              0              0              57
  20  SaltShaker      -2.726         0.874          3.393          0              135            0              59
  21  Bread           -2.490         0.958          3.370          0              270            0              59
  22  Lettuce         -2.196         0.939          2.968          0              135            0              59
  23  Apple           0.307          0.444          2.054          0              180            0              82
  24  Apple           -0.844         0.247          2.174          0              90             0              87
  25  Book            -1.627         0.908          -1.591         0              0              0              57
  26  Fork            1.760          0.910          -1.346         0              90             0              77
  27  Tomato          0.617          0.959          -1.369         0              0              0              57
  28  Egg             0.307          0.828          1.966          0              180            0              82
  29  Kettle          0.974          0.957          -1.419         0              180            0              75
  30  Vase            -2.152         0.879          3.221          0              270            0              59
  31  Cup             -2.058         1.655          -1.674         0              0              0              53
  32  WineBottle      -1.649         0.120          -1.141         0              0              0              62
  33  Plate           -0.833         0.916          -1.471         0              0              0              57
  34  Spatula         -2.996         0.893          3.221          0              270            0              59
  35  Potato          -0.377         0.839          1.966          0              180            0              82
  36  Pot             -1.602         0.901          -0.172         0              308.119        0              57
  37  Knife           0.124          0.950          -1.718         0              0              0              54
  38  SaltShaker      -1.627         0.908          -0.614         0              0              0              57
  39  PepperShaker    1.333          2.152          -1.638         0              0              0              71
  40  Lettuce         -2.472         0.943          2.930          0              135            0              59
  41  ButterKnife     -1.269         0.912          -1.572         0              180            0              57
  42  Bread           -2.733         0.961          2.884          0              0              0              59
  43  Vase            -1.516         0.913          -0.939         0              0              0              57
  44  DishSponge      3.662          0.880          1.452          0              270            0              80
  45  Apple           -0.330         0.752          -1.678         0              270            0              86
  46  Pan             0.972          0.959          -1.426         0              0              0              75
  47  Spoon           -1.738         0.913          -0.288         0              0              0              57
  48  SoapBottle      -2.659         0.875          3.728          0              0              0              59
  49  Mug             -2.577         0.873          3.618          0              225            0              59
  50  Statue          -1.849         0.919          -1.265         0              0              0              57
  51  Statue          -2.072         0.910          -0.939         0              0              0              57
  52  Bowl            0.193          1.570          2.040          0              180            0              82
  53  Cabinet         -2.171         2.009          -1.538         0              0              0
  54  Sink            0.024          0.771          -1.708         0              270            0
  55  Cabinet         1.444          2.259          -1.542         0              0              0
  56  StoveBurner     0.974          0.957          -1.688         0              180            0
  57  CounterTop      -1.866         0.947          -0.614         0              0              0
  58  Cabinet         -2.217         0.373          -1.874         0              0              0
  59  DiningTable     -2.663         0.002          3.208          0              0              0
  60  StoveBurner     1.328          0.957          -1.688         0              180            0
  61  StoveBurner     1.328          0.957          -1.420         0              180            0
  62  Cabinet         -1.478         0.373          -1.235         0              0              0
  63  Cabinet         1.775          0.372          -1.242         0              0              0
  64  Cabinet         0.774          0.372          -1.242         0              0              0
  65  Cabinet         0.375          0.372          -1.242         0              0              0
  66  Cabinet         -0.574         0.372          -1.238         0              0              0
  67  Cabinet         1.775          2.009          -1.542         0              0              0
  68  Cabinet         0.524          2.009          -1.542         0              0              0
  69  Cabinet         -0.714         2.009          -1.542         0              0              0
  70  Cabinet         -1.671         2.009          -1.538         0              0              0
  71  Cabinet         0.854          2.259          -1.542         0              0              0
  72  Drawer          -1.636         0.683          -0.930         0              0              0
  73  Drawer          1.650          0.682          -1.396         0              0              0
  74  Drawer          0.600          0.682          -1.396         0              0              0
  75  StoveBurner     0.974          0.957          -1.419         0              180            0
  76  Drawer          -2.062         0.683          -1.579         0              0              0
  77  CounterTop      1.645          0.945          -1.527         0              0              0
  78  Shelf           3.725          0.880          1.671          0              90             0
  79  LightSwitch     2.830          1.266          -0.748         0              0              0
  80  Shelf           3.726          0.552          1.671          0              90             0
  81  Microwave       1.150          1.655          -1.614         0              0              0
  82  Fridge          -0.035         0.0            2.177          0              180            0
  83  Window          -0.115         1.802          -1.896         90             0              0
  84  Window          -4.009         1.799          0.310          90             90             0
  85  Shelf           3.726          0.172          1.671          0              90             0
  86  SinkBasin       -0.330         0.686          -1.581         0              270            0
  87  GarbageCan      -0.870         -0.001         2.136          0              90             0
  88  StoveKnob       1.089          0.913          -1.243         45             0              0
  89  StoveKnob       1.208          0.913          -1.243         45             0              0
  90  StoveKnob       1.340          0.913          -1.243         45             0              0
  91  StoveKnob       0.961          0.913          -1.243         45             0              0
  92  Toaster         1.637          0.900          -1.673         0              0              0
  93  Chair           -3.505         0.002          3.290          0              105.736        0
  94  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  95  HousePlant      -2.663         0.835          3.209          0              0              0
  96  Faucet          -0.187         0.922          -1.75          0              311.166        0
  97  ShelvingUnit    3.726          0.006          1.671          0              90             0
  98  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  99  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 100  Chair           -2.934         0.002          2.437          0              28.531         0
 101  Chair           -1.698         0.002          3.235          0              245.204        0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn left then walk across the room head to the shelf rack  | STEP 2: Pick up the sponge on the shelf rack  | STEP 3: Turn right then cross the room head to the counter on your left | STEP 4: Put the sponge in the pot | STEP 5: Pick up the pot with sponge  | STEP 6: Turn right then walk forward head to the round table  | STEP 7: Put the pot with sponge on the left side of the round table | END