Task: Place a pot, with a sponge in it, on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -0.25          0              0              0
   1  DishSponge      2.228          0.764          3.97           0              0              0              50
   2  DishSponge      2.568          1.780          -1.950         0              0              0              88
   3  DishSponge      2.735          0.764          4.464          0              225            0              50
   4  Glassbottle     -0.987         0.786          -0.738         0              90             0              93
   5  Pot             2.177          1.027          -1.599         0              0              0              48
   6  Spatula         -0.714         0.831          1.337          0              270            0              106
   7  Spatula         1.469          1.041          -1.667         0              90             0              49
   8  Cup             -1.061         1.780          1.421          0              0              0              83
   9  Cup             2.228          0.763          3.62           0              0              0              50
  10  Plate           -0.807         2.290          -0.217         0              0              0              80
  11  Knife           1.638          1.052          1.704          0              136.999        0              49
  12  Knife           1.916          1.052          1.405          0              136.999        0              49
  13  Tomato          2.398          0.818          4.022          0              225            0              50
  14  Bowl            2.395          0.762          4.362          0              329.999        0              50
  15  SaltShaker      -1.098         1.777          0.968          0              0              0              67
  16  SaltShaker      1.466          0.797          1.693          0              317.0          0              64
  17  Bread           1.350          1.094          -1.454         0              90             0              49
  18  Bread           2.754          1.094          1.350          0              136.999        0              49
  19  Lettuce         2.580          0.822          4.099          0              225            0              50
  20  Lettuce         2.441          0.822          3.540          0              329.999        0              50
  21  Pan             2.042          1.017          1.779          0              0              0              49
  22  Glassbottle     2.568          1.781          -1.833         0              0              0              88
  23  Knife           -0.418         1.052          0.600          0              90             0              52
  24  SoapBottle      2.634          0.763          3.651          0              329.999        0              50
  25  Egg             -0.782         0.860          1.259          0              90             0              106
  26  Fork            -0.731         0.801          2.061          0              270            0              54
  27  Potato          -0.858         0.376          -0.073         0              90             0              93
  28  Ladle           2.525          0.803          4.495          0              180            0              50
  29  Tomato          2.800          0.818          4.192          0              270            0              50
  30  Pot             1.761          1.027          -1.599         0              0              0              92
  31  WineBottle      2.426          0.765          3.735          0              225            0              50
  32  Plate           -0.920         1.027          2.556          0              0              0              52
  33  Spatula         1.290          1.041          -1.987         0              90             0              49
  34  PaperTowelRoll  2.998          0.868          4.202          0              225            0              50
  35  Lettuce         -0.577         0.874          1.414          0              90             0              106
  36  Apple           2.106          1.911          -1.910         0              0              0              95
  37  SaltShaker      2.874          0.796          -0.792         0              0              0              58
  38  PepperShaker    2.593          0.796          -0.653         0              0              0              58
  39  ButterKnife     2.299          1.026          1.205          0              136.999        0              49
  40  Bread           2.741          1.085          0.059          0              0              0              49
  41  Cup             2.475          1.025          1.648          0              136.999        0              49
  42  DishSponge      2.801          0.764          3.970          0              270            0              50
  43  Bowl            -0.542         0.046          2.468          0              0              0              69
  44  Spoon           1.623          0.802          1.524          0              47.0           0              64
  45  Mug             -0.782         0.811          1.492          0              90             0              106
  46  Sink            -0.716         1.023          1.333          0              0              0
  47  StoveBurner     1.835          1.018          -1.840         0              90             0
  48  StoveBurner     2.177          1.018          -1.599         0              0              0
  49  CounterTop      2.812          0.992          0.675          0              0              0
  50  DiningTable     2.419          0.003          3.930          0              0              0
  51  Drawer          -0.643         0.828          0.616          0              0              0
  52  CounterTop      -0.813         1.062          2.188          0              0              0
  53  StoveBurner     2.115          1.018          -1.840         0              270            0
  54  Drawer          -0.643         0.831          1.953          0              0              0
  55  Drawer          -0.643         0.833          2.418          0              0              0
  56  Drawer          1.347          0.836          -1.539         0              0              0
  57  Drawer          2.693          0.833          -1.131         0              0              0
  58  Drawer          2.693          0.833          -0.699         0              0              0
  59  Drawer          2.693          0.833          -0.267         0              0              0
  60  Drawer          2.693          0.833          0.163          0              0              0
  61  Drawer          2.524          0.833          0.720          0              2.000          0
  62  Drawer          2.232          0.833          1.036          0              2.000          0
  63  Drawer          1.936          0.833          1.354          0              2.000          0
  64  Drawer          1.646          0.833          1.670          0              2.000          0
  65  Cabinet         1.504          2.475          -1.710         0              0              0
  66  Cabinet         -0.823         2.220          1.621          0              0              0
  67  Cabinet         -0.823         2.220          0.615          0              0              0
  68  Cabinet         1.136          0.388          -1.355         0              0              0
  69  Cabinet         -0.356         0.383          2.626          0              0              0
  70  Cabinet         2.745          2.220          -1.690         0              0              0
  71  Cabinet         1.882          0.383          1.017          0              0              0
  72  Cabinet         1.307          0.473          1.640          0              0              0
  73  Cabinet         1.892          0.383          1.006          0              0              0
  74  Cabinet         2.467          0.383          0.383          0              0              0
  75  Cabinet         2.466          0.383          -0.475         0              0              0
  76  Cabinet         2.466          0.473          0.371          0              0              0
  77  Cabinet         2.386          2.475          -1.710         0              0              0
  78  Cabinet         -0.356         0.383          1.712          0              0              0
  79  Cabinet         2.745          2.220          0.019          0              0              0
  80  Cabinet         -0.663         2.496          0.157          0              0              0
  81  Cabinet         -0.663         2.496          -0.868         0              0              0
  82  Cabinet         -0.356         0.383          0.269          0              0              0
  83  Cabinet         -0.823         2.220          1.603          0              0              0
  84  Cabinet         -0.662         2.234          0.586          0              0              0
  85  Cabinet         2.745          2.220          -0.843         0              0              0
  86  Cabinet         2.745          2.220          -0.827         0              0              0
  87  Cabinet         -0.823         2.220          2.608          0              0              0
  88  Cabinet         2.732          2.226          -1.709         0              0              0
  89  Cabinet         1.137          2.226          -1.709         0              0              0
  90  Cabinet         2.466          0.383          -0.491         0              0              0
  91  Cabinet         2.466          0.383          -1.339         0              0              0
  92  StoveBurner     1.761          1.018          -1.599         0              0              0
  93  Fridge          -0.908         0.0            -0.405         0              0              0
  94  HousePlant      2.517          1.016          1.822          0              0              0
  95  Microwave       1.939          1.745          -1.826         0              0              0
  96  StoveKnob       2.017          1.041          -1.514         0              180            180
  97  StoveKnob       1.934          1.041          -1.514         0              180            180
  98  StoveKnob       2.017          1.041          -1.589         0              180            180
  99  StoveKnob       1.934          1.041          -1.589         0              180            180
 100  Window          1.756          1.608          4.762          90             0              0
 101  HousePlant      2.171          1.004          2.091          0              0              0
 102  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 103  LightSwitch     -0.099         1.410          -2.066         0              0              0
 104  GarbageCan      -0.951         -0.029         2.826          0              0              0
 105  Toaster         -1.007         1.018          2.238          0              90             0
 106  SinkBasin       -0.714         0.805          1.348          0              90             0
 107  Chair           1.615          0.004          4.310          0              107.976        0
 108  Faucet          -1.120         1.013          1.334          0              90             0
 109  Chair           2.759          0.004          3.086          0              358.967        0
 110
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Walk around the counter and up to the white table in the right corner of the room and stand next to the wall on the right. | STEP 2: Pick up the green scrub sponge sitting in front of the tomato on the right. | STEP 3: Turn left and walk over to the stove and stand in front of it. | STEP 4: On the stove, put the sponge in the right-side pot, standing upright with the yellow side facing right. | STEP 5: Pick up the pot with the sponge still inside. | STEP 6: Turn right and walk over to the white table in the corner and stand in front of the green head of lettuce. | STEP 7: Set the pot down on the table in front of the chair at the upper left side of the table. | END