Task: Put a sponge and pan in a sink

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          3.0            0              270            0
   1  Ladle           0.194          0.157          -1.345         0              0              0              59
   2  Ladle           1.764          0.393          -0.088         0              0              0              66
   3  Kettle          0.214          0.926          0.506          0              0              0              78
   4  Kettle          2.025          0.912          0.025          0              0              0              70
   5  DishSponge      1.658          0.582          -0.092         0              270            0              55
   6  DishSponge      -1.796         0.041          1.288          0              270            0              84
   7  ButterKnife     1.661          0.579          0.599          0              0              0              74
   8  Pot             1.975          0.938          0.384          0              180            0              56
   9  Cup             0.305          0.110          -1.220         0              0              0              59
  10  Plate           -1.902         0.910          -0.914         0              0              0              70
  11  Knife           0.107          0.947          0.970          0              90             0              78
  12  Knife           1.658          0.143          0.527          0              180            0              62
  13  SoapBottle      -0.990         1.683          -1.577         0              0              0              72
  14  Tomato          -0.106         0.980          0.273          0              0              0              78
  15  Tomato          -1.721         0.618          -0.175         0              90             0              93
  16  Bowl            -1.697         1.467          0.107          0              90             0              93
  17  Bowl            -0.193         0.113          -1.472         0              0              0              49
  18  SaltShaker      0.417          0.109          -1.220         0              0              0              59
  19  SaltShaker      -1.639         0.907          -0.964         0              0              0              70
  20  PepperShaker    -0.213         0.921          0.738          0              0              0              78
  21  Lettuce         0.107          1.002          0.738          0              0              0              78
  22  Lettuce         -0.213         1.002          0.970          0              0              0              78
  23  Apple           1.892          1.059          -0.808         0              270            0              91
  24  Apple           1.988          1.059          -0.599         0              270            0              91
  25  SoapBottle      1.924          1.662          -1.053         0              270            0              58
  26  Cup             -0.418         0.112          -1.284         0              0              0              49
  27  Pot             1.975          0.938          0.819          0              180            0              80
  28  Fork            1.802          0.912          -1.610         0              0              0              70
  29  Ladle           0.889          0.955          -1.610         0              0              0              70
  30  Kettle          1.681          0.9            0.091          0              0              0              70
  31  Egg             -1.750         0.620          0.201          0              90             0              93
  32  Plate           1.195          0.107          -1.479         0              0              0              63
  33  Pan             -1.286         0.9            -1.348         0              79.769         0              70
  34  Lettuce         -0.213         1.002          0.506          0              0              0              78
  35  Spatula         -0.638         0.926          -1.707         0              90             0              70
  36  Apple           -1.771         1.082          0.295          0              90             0              93
  37  Knife           0.107          0.947          0.273          0              0              0              78
  38  SaltShaker      -0.106         0.921          0.738          0              0              0              78
  39  PepperShaker    -1.841         1.658          -1.131         0              90             0              57
  40  CellPhone       1.812          0.543          1.284          0              0              0              68
  41  ButterKnife     -1.551         0.911          -0.964         0              0              0              70
  42  Bread           -1.803         1.756          -0.175         0              90             0              93
  43  Tomato          -1.645         1.524          -0.081         0              90             0              93
  44  Potato          1.509          0.935          0.947          0              0              0              70
  45  DishSponge      -1.841         1.661          -0.980         0              90             0              57
  46  Spoon           1.769          0.121          0.672          0              270            0              62
  47  Mug             1.355          0.955          -1.362         0              0              0              92
  48  Bowl            -1.197         0.111          -1.296         0              0              0              82
  49  Cabinet         -0.495         0.474          -1.149         0              0              0
  50  Window          -0.010         1.582          -1.821         0              0              0
  51  Drawer          0.805          0.475          -1.159         0              0              0
  52  StoveBurner     1.764          0.902          0.601          0              270            0
  53  Drawer          1.5            0.196          -0.019         0              0              0
  54  Drawer          1.5            0.629          -0.018         0              0              0
  55  Drawer          1.5            0.602          -0.019         0              270            0
  56  StoveBurner     1.975          0.902          0.384          0              270            0
  57  Cabinet         -1.703         2.022          -1.453         0              90             0
  58  Cabinet         1.789          2.019          -0.819         0              270            0
  59  Cabinet         0.494          0.474          -1.149         0              0              0
  60  Cabinet         0.409          0.475          0.444          0              0              0
  61  Drawer          -0.696         0.475          -1.159         0              0              0
  62  Drawer          1.5            0.140          0.599          0              270            0
  63  Cabinet         1.389          0.474          -1.149         0              0              0
  64  Drawer          1.5            0.305          0.600          0              0              0
  65  StoveBurner     1.975          0.902          0.601          0              270            0
  66  Drawer          1.5            0.429          -0.019         0              0              0
  67  StoveBurner     1.764          0.902          0.819          0              270            0
  68  Drawer          1.5            0.519          1.220          0              0              0
  69  Cabinet         1.705          2.019          -1.449         0              0              0
  70  CounterTop      0.002          0.947          -1.513         0              0              0
  71  Drawer          1.5            0.629          0.605          0              0              0
  72  Cabinet         -0.627         2.019          -1.449         0              0              0
  73  StoveBurner     1.764          0.902          0.384          0              270            0
  74  Drawer          1.5            0.538          0.600          0              0              0
  75  Sink            0.0            0.893          -1.434         0              0              0
  76  Drawer          1.5            0.782          1.220          0              270            0
  77  Window          2.217          1.565          -0.384         0              0              0
  78  CounterTop      -0.014         0.961          0.505          0              0              0
  79  Drawer          1.5            0.200          1.220          0              0              0
  80  StoveBurner     1.975          0.902          0.819          0              270            0
  81  Window          -3.240         1.616          2.693          0              270            0
  82  Cabinet         -1.389         0.474          -1.149         0              0              0
  83  LightSwitch     -0.153         1.291          3.700          0              180            0
  84  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  85  StoveKnob       1.602          0.917          0.570          0              270            180
  86  StoveKnob       1.602          0.917          0.625          0              270            180
  87  StoveKnob       1.602          0.917          0.739          0              270            180
  88  StoveKnob       1.602          0.917          0.680          0              270            180
  89  StoveKnob       1.602          0.917          0.462          0              270            180
  90  StoveKnob       1.602          0.917          0.517          0              270            180
  91  Microwave       1.932          0.899          -0.766         0              270            0
  92  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  93  Fridge          -1.764         0.0            0.014          0              90             0
  94  SinkBasin       -0.014         0.736          -1.435         0              0              0
  95  Toaster         1.977          0.900          -0.336         0              270            0
  96  Faucet          -0.020         1.137          -1.605         0              270            0
  97  Chair           -9.354         0.000          1.242          0              180            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn left and go to the white trash can | STEP 2: Take the sponge out of the trash can | STEP 3: Turn left and go to the counter with the pan on it | STEP 4: Put the sponge in the pan | STEP 5: Pick up the sponge and pan from the counter | STEP 6: Turn left and go to the sink on the right | STEP 7: Place the sponge and pan in the sink | END