Task: grab the green sponge and the pan from the counter, put them in the cabinet under

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          -1.25          0              180            0
   1  Pan             -2.070         1.308          0.925          0              180            0              96
   2  Pan             -0.036         0.950          -2.576         0              270            0              66
   3  CreditCard      1.098          0.907          -2.253         0              0              0              65
   4  Plate           -0.473         1.108          0.251          0              0              0              63
   5  Egg             -0.070         1.825          -2.578         0              0              0              89
   6  Egg             -1.742         0.804          -1.587         0              90             0              98
   7  Tomato          0.324          0.949          -2.407         0              0              0              65
   8  SoapBottle      0.217          1.112          0.251          0              0              0              63
   9  SoapBottle      -1.733         0.912          -2.253         0              0              0              88
  10  SaltShaker      -0.197         1.107          -0.759         0              0              0              63
  11  PepperShaker    1.584          0.877          -2.509         0              180            0              90
  12  PepperShaker    1.123          0.311          -2.479         0              0              0              67
  13  Bread           0.079          1.184          -0.506         0              0              0              63
  14  Lettuce         -0.059         1.191          0.251          0              0              0              63
  15  Apple           -1.962         0.098          1.933          0              270            0              94
  16  Knife           0.969          0.936          -2.407         0              0              0              65
  17  Knife           0.355          1.136          -0.759         0              0              0              63
  18  Fork            0.892          0.143          -2.382         0              0              0              83
  19  Spoon           -1.963         0.770          -1.587         0              0              0              98
  20  Mug             -1.999         1.497          0.841          0              90             0              96
  21  Mug             -0.173         1.785          -2.546         0              0              0              89
  22  Spatula         -1.852         0.784          -1.587         0              270            0              98
  23  ButterKnife     -1.856         0.911          -0.513         0              0              0              88
  24  Glassbottle     -0.197         1.112          -0.253         0              0              0              63
  25  DishSponge      -2.019         0.910          -2.366         0              0              0              88
  26  Bowl            -2.120         0.795          1.003          0              90             0              96
  27  Bowl            -0.848         0.908          -2.483         0              0              0              88
  28  Book            0.155          1.1            0.617          0              315            0              63
  29  Glassbottle     -1.908         0.770          -1.760         0              90             0              98
  30  Knife           -0.059         1.136          -0.253         0              0              0              63
  31  Bread           0.355          1.184          -0.506         0              0              0              63
  32  Fork            0.355          1.112          -0.000         0              0              0              63
  33  Potato          0.453          0.941          -2.253         0              0              0              65
  34  SoapBottle      0.840          0.911          -2.560         0              0              0              65
  35  Kettle          -0.473         1.112          -0.001         0              0              0              63
  36  Pan             -1.143         0.911          -2.637         0              90             0              88
  37  Plate           -2.121         0.537          1.251          0              90             0              96
  38  Tomato          0.217          1.150          -0.506         0              0              0              63
  39  Vase            -0.473         1.113          -0.506         0              0              0              63
  40  Egg             -0.059         1.146          -0.506         0              0              0              63
  41  CreditCard      1.478          0.550          -2.407         0              180            0              93
  42  Statue          1.955          0.168          -2.543         0              0              0              95
  43  WineBottle      -0.335         1.112          0.757          0              0              0              63
  44  Pot             -1.219         0.9            -2.356         0              0              0              88
  45  Spatula         1.064          0.157          -2.431         0              90             0              83
  46  PaperTowelRoll  0.324          1.014          -2.253         0              0              0              65
  47  Cup             -1.797         0.767          -1.673         0              90             0              98
  48  Vase            -1.586         0.909          -2.637         0              0              0              88
  49  Bowl            -1.963         0.766          -1.414         0              90             0              98
  50  SaltShaker      -0.197         1.107          -0.506         0              0              0              63
  51  PepperShaker    0.836          0.477          -2.331         0              0              0              71
  52  Lettuce         -0.197         1.191          0.757          0              0              0              63
  53  ButterKnife     -1.738         0.478          -0.196         0              90             0              78
  54  Apple           0.079          1.162          -0.001         0              0              0              63
  55  DishSponge      -1.908         0.769          -1.242         0              90             0              98
  56  Spoon           -0.995         0.912          -2.253         0              0              0              88
  57  Mug             -1.731         0.956          -0.168         0              90             0              97
  58  StoveBurner     -0.036         0.915          -2.372         0              0              0
  59  Drawer          0.949          0.832          -2.197         0              0              0
  60  Drawer          -1.560         0.839          0.204          0              90             0
  61  StoveBurner     -0.465         0.915          -2.371         0              180            0
  62  Drawer          -1.560         0.839          -0.197         0              90             0
  63  CounterTop      -0.079         1.147          -0.001         0              0              0
  64  Cabinet         -1.549         0.494          -1.964         0              90             0
  65  CounterTop      0.693          0.946          -2.483         0              0              0
  66  StoveBurner     -0.036         0.915          -2.576         0              0              0
  67  Drawer          0.949          0.393          -2.200         0              0              0
  68  Drawer          0.949          0.708          -2.200         0              0              0
  69  Cabinet         -1.549         0.494          0.379          0              90             0
  70  StoveKnob       -0.022         0.881          -2.187         45             0              0
  71  Drawer          0.949          0.560          -2.201         0              0              0
  72  StoveBurner     -0.465         0.915          -2.575         0              180            0
  73  Window          -2.230         1.429          -1.203         0              0              0
  74  StoveKnob       -0.483         0.881          -2.187         45             0              0
  75  Sink            -1.899         0.964          -1.5           0              90             0
  76  StoveKnob       -0.328         0.881          -2.187         45             0              0
  77  Cabinet         -0.727         2.015          -2.460         0              0              0
  78  Drawer          -1.560         0.655          -0.196         0              90             0
  79  Cabinet         -1.685         2.015          -2.461         0              0              0
  80  Cabinet         0.680          0.494          -2.200         0              0              0
  81  Cabinet         -1.179         0.494          -2.200         0              0              0
  82  Cabinet         -1.849         2.015          0.379          0              90             0
  83  Drawer          0.949          0.221          -2.200         0              0              0
  84  StoveKnob       -0.183         0.881          -2.187         45             0              0
  85  Cabinet         0.719          2.015          -2.460         0              0              0
  86  Drawer          -1.560         0.331          -0.196         0              90             0
  87  Cabinet         0.680          2.015          -2.460         0              0              0
  88  CounterTop      -1.868         0.946          -1.205         0              0              0
  89  Microwave       -0.236         1.689          -2.525         0              0              0
  90  Shelf           1.751          0.880          -2.560         0              0              0
  91  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  92  Toaster         -1.835         0.900          0.134          0              90             0
  93  Shelf           1.750          0.552          -2.559         0              0              0
  94  GarbageCan      -1.935         -0.002         2.029          0              270            0
  95  Shelf           1.750          0.172          -2.559         0              0              0
  96  Fridge          -2.096         0.0            1.088          0              0              0
  97  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  98  SinkBasin       -1.908         0.759          -1.488         0              90             0
  99  LightSwitch     2.329          1.309          -0.159         0              270            0
 100  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 101  Stool           0.702          0.000          -0.514         1.202          65.108         0
 102  Stool           0.743          0.000          0.563          1.227          106.706        0
 103  Faucet          -2.070         1.132          -1.514         0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: turn right to the sink | STEP 2: grab the green sponge by the sink | STEP 3: turn left to the counter | STEP 4: put the green sponge in the pan | STEP 5: take the pan on the counter | STEP 6: walk to the left a little | STEP 7: open the cabinet under the counter, put the pan in. | END