Task: Place saucepan with sponge in it into the cabinet to the left of the stove.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -1.5           0              180            0
   1  Pan             -0.036         0.950          -2.372         0              270            0              49
   2  Statue          0.217          1.110          -0.253         0              270            0              54
   3  Vase            1.893          0.550          -2.666         0              180            0              84
   4  CreditCard      0.969          0.907          -2.714         0              0              0              56
   5  Plate           -0.059         1.108          0.251          0              0              0              54
   6  SoapBottle      -0.995         0.912          -2.483         0              0              0              79
   7  SoapBottle      -0.912         0.137          -2.301         0              0              0              72
   8  SaltShaker      -1.622         1.654          -2.604         0              0              0              70
   9  Apple           -0.173         1.841          -2.514         0              0              0              80
  10  Apple           -2.080         0.591          1.334          0              90             0              87
  11  Fork            -1.782         0.794          0.331          0              180            0              51
  12  Spoon           0.893          0.482          -2.331         0              0              0              62
  13  Spatula         1.121          0.157          -2.286         0              270            0              74
  14  ButterKnife     -1.963         0.769          -1.587         0              270            0              89
  15  ButterKnife     -0.197         1.111          -0.253         0              0              0              54
  16  Kettle          -0.465         0.950          -2.372         0              90             0              52
  17  Glassbottle     -1.935         0.048          2.076          0              270            0              85
  18  Glassbottle     0.355          1.112          -0.253         0              0              0              54
  19  Book            -0.335         1.110          -0.506         0              0              0              54
  20  Glassbottle     -0.059         1.112          -0.001         0              0              0              54
  21  Knife           0.355          1.136          0.251          0              0              0              54
  22  Bread           -0.059         1.184          -0.506         0              0              0              54
  23  Fork            -0.335         1.112          0.504          0              0              0              54
  24  Potato          -2.081         1.533          0.925          0              90             0              87
  25  SoapBottle      -1.989         0.048          1.885          0              270            0              85
  26  Kettle          -1.908         0.770          -1.328         0              90             0              89
  27  Pan             -2.070         1.308          0.925          0              180            0              87
  28  Plate           -0.335         1.108          0.251          0              0              0              54
  29  Tomato          -2.037         0.837          1.334          0              90             0              87
  30  Vase            -1.715         0.132          0.203          0              90             0              60
  31  Egg             -1.880         0.083          1.981          0              270            0              85
  32  CreditCard      1.098          0.907          -2.484         0              0              0              56
  33  Statue          1.685          0.551          -2.459         0              180            0              84
  34  WineBottle      -2.019         0.912          -0.698         0              0              0              79
  35  Pot             -1.219         0.9            -2.356         0              0              0              79
  36  Spatula         -1.824         0.493          -0.100         0              180            0              69
  37  PaperTowelRoll  0.840          1.014          -2.407         0              0              0              56
  38  Cup             -1.438         0.909          -2.483         0              0              0              79
  39  Vase            0.453          0.908          -2.637         0              0              0              56
  40  Bowl            1.996          0.549          -2.459         0              180            0              84
  41  SaltShaker      1.584          0.877          -2.536         0              180            0              81
  42  PepperShaker    0.560          1.656          -2.632         0              0              0              78
  43  Lettuce         -1.806         0.973          -0.942         0              256.771        0              79
  44  ButterKnife     -2.019         0.911          -0.513         0              0              0              79
  45  Apple           -2.120         0.849          1.168          0              90             0              87
  46  DishSponge      0.079          1.111          -0.001         0              0              0              54
  47  Spoon           -0.848         0.912          -2.253         0              0              0              79
  48  Mug             -1.705         0.131          -1.740         0              90             0              55
  49  StoveBurner     -0.036         0.915          -2.372         0              0              0
  50  Drawer          0.949          0.832          -2.197         0              0              0
  51  Drawer          -1.560         0.839          0.204          0              90             0
  52  StoveBurner     -0.465         0.915          -2.371         0              180            0
  53  Drawer          -1.560         0.839          -0.197         0              90             0
  54  CounterTop      -0.079         1.147          -0.001         0              0              0
  55  Cabinet         -1.549         0.494          -1.964         0              90             0
  56  CounterTop      0.693          0.946          -2.483         0              0              0
  57  StoveBurner     -0.036         0.915          -2.576         0              0              0
  58  Drawer          0.949          0.393          -2.200         0              0              0
  59  Drawer          0.949          0.708          -2.200         0              0              0
  60  Cabinet         -1.549         0.494          0.379          0              90             0
  61  StoveKnob       -0.022         0.881          -2.187         45             0              0
  62  Drawer          0.949          0.560          -2.201         0              0              0
  63  StoveBurner     -0.465         0.915          -2.575         0              180            0
  64  Window          -2.230         1.429          -1.203         0              0              0
  65  StoveKnob       -0.483         0.881          -2.187         45             0              0
  66  Sink            -1.899         0.964          -1.5           0              90             0
  67  StoveKnob       -0.328         0.881          -2.187         45             0              0
  68  Cabinet         -0.727         2.015          -2.460         0              0              0
  69  Drawer          -1.560         0.655          -0.196         0              90             0
  70  Cabinet         -1.685         2.015          -2.461         0              0              0
  71  Cabinet         0.680          0.494          -2.200         0              0              0
  72  Cabinet         -1.179         0.494          -2.200         0              0              0
  73  Cabinet         -1.849         2.015          0.379          0              90             0
  74  Drawer          0.949          0.221          -2.200         0              0              0
  75  StoveKnob       -0.183         0.881          -2.187         45             0              0
  76  Cabinet         0.719          2.015          -2.460         0              0              0
  77  Drawer          -1.560         0.331          -0.196         0              90             0
  78  Cabinet         0.680          2.015          -2.460         0              0              0
  79  CounterTop      -1.868         0.946          -1.205         0              0              0
  80  Microwave       -0.236         1.689          -2.525         0              0              0
  81  Shelf           1.751          0.880          -2.560         0              0              0
  82  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  83  Toaster         -1.835         0.900          0.134          0              90             0
  84  Shelf           1.750          0.552          -2.559         0              0              0
  85  GarbageCan      -1.935         -0.002         2.029          0              270            0
  86  Shelf           1.750          0.172          -2.559         0              0              0
  87  Fridge          -2.096         0.0            1.088          0              0              0
  88  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  89  SinkBasin       -1.908         0.759          -1.488         0              90             0
  90  LightSwitch     2.329          1.309          -0.159         0              270            0
  91  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  92  Stool           0.702          0.000          -0.514         1.202          65.108         0
  93  Stool           0.743          0.000          0.563          1.227          106.706        0
  94  Faucet          -2.070         1.132          -1.514         0              0              0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn left 90 degrees and go towards the wall. At the wall, turn left and go as far as the door on the right. At the door, turn left and go between the two stools to face the kitchen island. | STEP 2: Pick up the green and yellow sponge from the kitchen island. | STEP 3: Turn around to your left to face the door, then turn to your right, moving around the island until you come to the sink, then turn left and go to the counter to the right of the stove. | STEP 4: Put the sponge into the saucepan on the counter in front of you, so that the yellow surface of the sponge is facing you. | STEP 5: Pick up the saucepan. | STEP 6: Carry the saucepan to the cabinet on the left side of the stove. | STEP 7: Open the cabinet door; place the saucepan in the cabinet and close the door. | END