Task: put away the pot 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              180            0
   1  Potato          -1.880         0.078          2.124          0              270            0              91
   2  Cup             -0.070         1.788          -2.482         0              0              0              86
   3  Cup             -2.078         0.796          1.003          0              90             0              93
   4  Egg             -1.999         1.538          1.008          0              90             0              93
   5  Tomato          -2.037         0.837          1.168          0              90             0              93
   6  Tomato          -2.163         0.579          1.251          0              90             0              93
   7  SaltShaker      1.482          0.877          -2.563         0              180            0              87
   8  Bread           0.079          1.184          -0.506         0              0              0              60
   9  Bread           -0.473         1.184          0.757          0              0              0              60
  10  Knife           0.453          0.936          -2.484         0              0              0              62
  11  Knife           -1.609         0.936          -1.869         0              90             0              85
  12  Fork            -1.852         0.770          -1.587         0              270            0              95
  13  Mug             0.079          1.106          0.251          0              0              0              60
  14  Spatula         0.949          0.661          -2.375         0              0              0              65
  15  Spatula         -1.143         0.926          -2.329         0              180            0              85
  16  Kettle          -0.036         0.950          -2.576         0              270            0              63
  17  Glassbottle     -0.335         1.112          -0.253         0              0              0              60
  18  Glassbottle     1.789          0.881          -2.563         0              180            0              87
  19  WineBottle      1.686          0.881          -2.509         0              180            0              87
  20  WineBottle      -1.962         0.048          2.029          0              270            0              91
  21  DishSponge      -2.018         0.769          -1.673         0              90             0              95
  22  DishSponge      -1.935         0.047          1.933          0              270            0              91
  23  DishSponge      0.840          0.910          -2.714         0              0              0              62
  24  Bowl            -1.963         0.766          -1.501         0              90             0              95
  25  Book            0.155          1.1            0.617          0              315            0              60
  26  Glassbottle     -1.963         0.770          -1.328         0              90             0              95
  27  Knife           -0.335         1.136          -0.506         0              0              0              60
  28  Bread           0.355          1.184          -0.001         0              0              0              60
  29  Fork            1.098          0.911          -2.330         0              0              0              62
  30  Potato          -2.038         0.570          0.837          0              90             0              93
  31  SoapBottle      1.584          0.881          -2.509         0              180            0              87
  32  Kettle          -0.465         0.950          -2.576         0              90             0              69
  33  Pan             -0.335         1.111          0.251          0              0              0              60
  34  Plate           0.079          1.108          -0.759         0              0              0              60
  35  Tomato          -2.162         0.837          1.251          0              90             0              93
  36  Vase            2.042          0.540          -2.495         0              0              0              90
  37  Egg             -1.742         0.804          -1.587         0              90             0              95
  38  CreditCard      -1.739         0.791          0.287          0              90             0              57
  39  Statue          -0.197         1.110          -0.253         0              90             0              60
  40  WineBottle      1.993          0.881          -2.536         0              180            0              87
  41  Pot             -1.219         0.9            -2.356         0              0              0              85
  42  Spatula         -1.826         0.169          -0.342         0              180            0              83
  43  PaperTowelRoll  -1.586         1.015          -2.637         0              0              0              85
  44  Cup             -2.158         1.303          1.176          0              90             0              93
  45  Vase            -0.197         1.109          0.504          0              0              0              60
  46  Bowl            0.355          1.108          -0.506         0              0              0              60
  47  SaltShaker      1.582          0.549          -2.407         0              180            0              90
  48  PepperShaker    -0.335         1.107          0.504          0              0              0              60
  49  Lettuce         0.324          0.990          -2.637         0              0              0              62
  50  ButterKnife     -1.586         0.911          -2.253         0              0              0              85
  51  Apple           -2.158         1.359          1.008          0              90             0              93
  52  DishSponge      1.996          0.552          -2.666         0              180            0              90
  53  Spoon           -0.848         0.912          -2.329         0              0              0              85
  54  Mug             -0.995         0.906          -2.560         0              0              0              85
  55  StoveBurner     -0.036         0.915          -2.372         0              0              0
  56  Drawer          0.949          0.832          -2.197         0              0              0
  57  Drawer          -1.560         0.839          0.204          0              90             0
  58  StoveBurner     -0.465         0.915          -2.371         0              180            0
  59  Drawer          -1.560         0.839          -0.197         0              90             0
  60  CounterTop      -0.079         1.147          -0.001         0              0              0
  61  Cabinet         -1.549         0.494          -1.964         0              90             0
  62  CounterTop      0.693          0.946          -2.483         0              0              0
  63  StoveBurner     -0.036         0.915          -2.576         0              0              0
  64  Drawer          0.949          0.393          -2.200         0              0              0
  65  Drawer          0.949          0.708          -2.200         0              0              0
  66  Cabinet         -1.549         0.494          0.379          0              90             0
  67  StoveKnob       -0.022         0.881          -2.187         45             0              0
  68  Drawer          0.949          0.560          -2.201         0              0              0
  69  StoveBurner     -0.465         0.915          -2.575         0              180            0
  70  Window          -2.230         1.429          -1.203         0              0              0
  71  StoveKnob       -0.483         0.881          -2.187         45             0              0
  72  Sink            -1.899         0.964          -1.5           0              90             0
  73  StoveKnob       -0.328         0.881          -2.187         45             0              0
  74  Cabinet         -0.727         2.015          -2.460         0              0              0
  75  Drawer          -1.560         0.655          -0.196         0              90             0
  76  Cabinet         -1.685         2.015          -2.461         0              0              0
  77  Cabinet         0.680          0.494          -2.200         0              0              0
  78  Cabinet         -1.179         0.494          -2.200         0              0              0
  79  Cabinet         -1.849         2.015          0.379          0              90             0
  80  Drawer          0.949          0.221          -2.200         0              0              0
  81  StoveKnob       -0.183         0.881          -2.187         45             0              0
  82  Cabinet         0.719          2.015          -2.460         0              0              0
  83  Drawer          -1.560         0.331          -0.196         0              90             0
  84  Cabinet         0.680          2.015          -2.460         0              0              0
  85  CounterTop      -1.868         0.946          -1.205         0              0              0
  86  Microwave       -0.236         1.689          -2.525         0              0              0
  87  Shelf           1.751          0.880          -2.560         0              0              0
  88  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  89  Toaster         -1.835         0.900          0.134          0              90             0
  90  Shelf           1.750          0.552          -2.559         0              0              0
  91  GarbageCan      -1.935         -0.002         2.029          0              270            0
  92  Shelf           1.750          0.172          -2.559         0              0              0
  93  Fridge          -2.096         0.0            1.088          0              0              0
  94  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  95  SinkBasin       -1.908         0.759          -1.488         0              90             0
  96  LightSwitch     2.329          1.309          -0.159         0              270            0
  97  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  98  Stool           0.702          0.000          -0.514         1.202          65.108         0
  99  Stool           0.743          0.000          0.563          1.227          106.706        0
 100  Faucet          -2.070         1.132          -1.514         0              0              0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: turn right and go to the sink | STEP 2: take the sponge that is in the sink | STEP 3: turn left to face the pot | STEP 4: put the sponge in the pot | STEP 5: take the pot with the sponge in it | STEP 6: move away from the counter, then stop, and turn around to face where you were | STEP 7: open the cabinet, put the pot with sponge in the cabinet, close the cabinet | END