Task: place a pan with a sponge in it on the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          2.5            0              270            0
   1  Potato          -0.598         0.933          -1.119         0              47.530         0              79
   2  CreditCard      -2.438         0.908          0.275          0              0              0              79
   3  DishSponge      -2.774         2.043          0.718          0              0              0              69
   4  DishSponge      -1.159         0.849          -1.25          0              0              0              89
   5  DishSponge      -2.103         0.746          -1.051         0              0              0              74
   6  ButterKnife     0.413          1.111          0.998          0              315            0              72
   7  Kettle          -0.009         1.112          1.268          0              315            0              72
   8  Kettle          1.413          1.112          0.614          0              315            0              72
   9  Spoon           0.307          0.747          -1.052         0              0              0              80
  10  Fork            -1.073         0.852          -1.139         0              270            0              89
  11  Spatula         0.143          1.107          1.421          0              135            0              72
  12  Spatula         0.688          0.926          -1.199         0              90             0              79
  13  Cup             0.346          1.004          -1.414         0              0              0              92
  14  Cup             -2.800         0.818          1.013          0              90             0              91
  15  Egg             0.253          1.146          1.768          0              315            0              72
  16  Egg             -2.853         0.946          -0.147         0              0              0              71
  17  SoapBottle      1.014          1.663          -1.397         0              0              0              57
  18  SoapBottle      -2.085         0.912          -1.449         0              0              0              79
  19  Tomato          -2.728         0.087          1.466          0              0              0              90
  20  Tomato          0.156          1.161          1.715          0              315            0              72
  21  Bowl            -2.680         0.377          0.852          0              90             0              91
  22  Lettuce         -2.860         1.752          0.771          0              90             0              91
  23  Lettuce         -2.740         1.553          1.013          0              90             0              91
  24  PepperShaker    -2.388         0.907          -1.032         0              0              0              79
  25  PepperShaker    0.997          0.907          -1.032         0              0              0              79
  26  Bread           0.842          0.965          -1.365         0              0              0              79
  27  Bread           -2.740         1.528          0.690          0              90             0              91
  28  Pan             -2.59          0.9            -1.147         0              0              0              79
  29  Apple           0.199          1.145          1.504          327.012        286.349        128.807        72
  30  Fork            -1.591         0.852          -1.305         0              90             0              89
  31  Kettle          -2.849         1.666          -1.059         0              0              0              51
  32  CreditCard      -2.542         0.743          0.099          0              0              0              79
  33  Bread           -0.401         0.948          -1.291         0              0              0              79
  34  Plate           -1.458         0.843          -1.235         0              0              0              89
  35  SoapBottle      0.471          1.112          1.402          0              315            0              72
  36  Spatula         -2.236         0.926          -1.199         0              0              0              79
  37  Lettuce         -2.860         0.899          0.690          0              90             0              91
  38  SaltShaker      -2.695         0.9            -0.132         0              0              0              71
  39  Tomato          0.375          1.161          1.652          0              315            0              72
  40  PepperShaker    -2.521         0.907          0.359          0              0              0              71
  41  ButterKnife     -2.026         0.746          -0.966         0              0              0              74
  42  Pot             -2.622         0.928          -0.396         0              0              0              73
  43  DishSponge      0.307          0.745          -1.138         0              0              0              80
  44  Egg             -2.757         0.072          1.361          0              0              0              90
  45  Spoon           -1.933         0.912          -1.365         0              0              0              79
  46  Knife           0.060          1.107          1.587          271.226        129.935        80.049         72
  47  Cup             0.451          1.007          -1.314         0              0              0              92
  48  Mug             0.372          1.654          -1.353         0              0              0              58
  49  Bowl            -0.092         1.110          1.510          0              315            0              72
  50  Cabinet         -2.647         2.075          -0.875         0              0              0
  51  Cabinet         -2.647         2.075          -0.234         0              0              0
  52  Cabinet         -0.824         0.469          -0.907         0              0              0
  53  Cabinet         -1.764         2.009          -1.197         0              0              0
  54  Cabinet         -1.834         2.009          -1.197         0              0              0
  55  Cabinet         -1.850         0.389          -0.897         0              0              0
  56  Cabinet         -1.801         0.469          -0.907         0              0              0
  57  Cabinet         1.115          2.009          -1.197         0              0              0
  58  Cabinet         0.235          2.009          -1.197         0              0              0
  59  Cabinet         1.125          0.470          -0.897         0              0              0
  60  Cabinet         -2.387         0.389          0.375          0              0              0
  61  Cabinet         0.484          0.389          -0.897         0              0              0
  62  Cabinet         -2.625         2.009          -1.197         0              0              0
  63  Cabinet         -2.647         2.009          -0.945         0              0              0
  64  Cabinet         -2.647         2.200          1.664          0              0              0
  65  Cabinet         -2.647         2.009          0.364          0              0              0
  66  Cabinet         0.164          2.009          -1.197         0              0              0
  67  Cabinet         -0.765         2.009          -1.197         0              0              0
  68  Cabinet         -0.834         2.009          -1.197         0              0              0
  69  Cabinet         -2.647         2.200          0.434          0              0              0
  70  StoveBurner     -2.622         0.886          -0.711         0              0              0
  71  CounterTop      -2.699         0.946          0.106          0              0              0
  72  CounterTop      0.908          1.147          0.788          0              315            0
  73  StoveBurner     -2.622         0.886          -0.396         0              0              0
  74  Drawer          -2.026         0.779          -1.082         0              0              0
  75  Sink            -1.328         0.916          -1.225         0              0              0
  76  StoveBurner     -2.822         0.886          -0.711         0              0              0
  77  Drawer          -2.572         0.779          0.099          0              0              0
  78  StoveBurner     -2.822         0.886          -0.396         0              0              0
  79  CounterTop      0.071          0.946          -1.199         0              0              0
  80  Drawer          0.254          0.779          -1.082         0              0              0
  81  LightSwitch     -1.167         1.307          3.0            0              180            0
  82  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  83  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  84  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  85  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  86  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  87  Window          0.321          1.449          3.088          90             0              0
  88  Toaster         -2.823         0.899          0.246          0              90             0
  89  SinkBasin       -1.344         0.838          -1.25          0              0              0
  90  GarbageCan      -2.757         1.886          1.466          0              0              0
  91  Fridge          -2.855         0.0            0.851          0              0              0
  92  Microwave       0.283          0.900          -1.331         0              0              0
  93  Stool           1.541          0.010          1.328          0              45             0
  94  Stool           0.983          0.010          1.793          0              47.459         0
  95  Faucet          -1.392         1.136          -1.399         0              270            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: turn left and head to the sink | STEP 2: pick up the sponge  | STEP 3: turn right to the sink  | STEP 4: place the sponge in the pan in the sink | STEP 5: pick up the pan | STEP 6: turn right and move to the overhead shelf | STEP 7: place the pan in the shelf | END