Task: To put a sponge in a pan and move the pan to the counter.

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          0.869          -3.0           0              180            0
   1  Potato          0.630          0.805          -0.625         0              270            0              58
   2  ButterKnife     -0.855         0.900          1.187          0              270            0              61
   3  Fork            0.769          0.761          -0.124         0              0              0              34
   4  Fork            -0.252         0.901          1.015          0              180            0              61
   5  Egg             -1.261         0.088          -3.574         0              270            0              50
   6  Knife           0.841          0.687          0.387          0              0              0              40
   7  SoapBottle      0.803          0.882          -0.176         0              0              0              35
   8  SaltShaker      0.676          0.012          -0.768         0              0              0              38
   9  SaltShaker      0.566          0.012          -0.637         0              0              0              38
  10  Bread           -0.051         0.944          0.843          0              270            0              61
  11  Lettuce         0.149          0.987          0.843          0              270            0              61
  12  Mug             0.698          0.941          -1.360         0              270            0              48
  13  Pot             -2.097         0.930          0.785          0              0              0              37
  14  Plate           0.732          0.019          -0.053         0              0              0              45
  15  Fork            0.781          0.665          0.508          0              90             0              40
  16  SoapBottle      -1.578         0.699          -3.698         0              0              0              62
  17  Apple           0.669          1.212          -2.035         0              270            0              55
  18  Pan             -1.552         0.930          0.785          0              0              0              39
  19  Egg             -2.002         0.836          -3.640         0              0              0              57
  20  Spatula         -1.970         0.716          -1.307         0              0              0              71
  21  Potato          -1.187         0.085          -3.574         0              270            0              50
  22  Cup             0.842          0.014          -0.571         0              0              0              38
  23  SaltShaker      0.661          0.660          0.508          0              0              0              40
  24  PepperShaker    1.055          0.879          -0.460         0              0              0              35
  25  ButterKnife     0.721          0.664          0.630          0              0              0              40
  26  DishSponge      0.781          0.664          0.326          0              0              0              40
  27  Bread           0.901          0.708          0.508          0              0              0              40
  28  Lettuce         0.715          0.859          -0.735         0              270            0              58
  29  Tomato          0.746          0.713          -1.802         0              270            0              55
  30  Spoon           0.769          0.760          -0.252         0              0              0              34
  31  Knife           0.623          0.783          0.002          0              270            0              34
  32  Mug             0.661          0.660          0.326          0              0              0              40
  33  Bowl            0.903          1.462          -0.146         0              0              0              46
  34  Drawer          0.706          0.766          -0.125         0              0              0
  35  CounterTop      0.792          0.919          -0.108         0              0              0
  36  Mirror          1.093          1.602          -0.643         0              0              0
  37  StoveBurner     -2.096         0.890          0.785          0              0              0
  38  Cabinet         0.507          0.345          -0.426         0              0              0
  39  StoveBurner     -1.552         0.890          0.785          0              0              0
  40  SideTable       0.770          -0.030         0.443          0              0              0
  41  Sink            0.753          0.882          -0.680         0              0              0
  42  StoveBurner     -2.096         0.890          1.049          0              0              0
  43  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  44  StoveBurner     -1.554         0.890          1.049          0              0              0
  45  Cabinet         0.507          0.345          0.156          0              0              0
  46  Cabinet         0.717          1.822          -0.398         0              0              0
  47  Cabinet         0.717          1.822          0.669          0              0              0
  48  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  49  Toaster         -0.522         0.886          1.081          0              180            0
  50  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  51  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  52  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  53  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  54  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  55  Fridge          0.680          -0.031         -1.957         0              0              0
  56  Window          -2.424         1.639          -2.453         90             270            0
  57  Microwave       -1.994         0.690          -3.651         0              0              0
  58  SinkBasin       0.757          0.762          -0.688         0              270            0
  59  LightSwitch     1.102          1.368          -3.737         0              270            0
  60  Shelf           -0.350         0.124          0.857          0              0              0
  61  DiningTable     -0.350         -0.025         0.857          0              0              0
  62  DiningTable     -1.909         -0.032         -3.507         0              0              0
  63  Blinds          -2.343         2.151          -2.437         0              270            0
  64  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  65  AluminumFoil    0.751          0.225          0.287          0              0              0
  66  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  67  Shelf           0.771          0.226          0.445          0              0              0
  68  Shelf           0.771          0.456          0.446          0              0              0
  69  Faucet          1.025          0.873          -0.678         270            180            0
  70  Shelf           -0.350         0.497          0.857          0              0              0
  71  DiningTable     -1.929         -0.035         -1.398         0              90             0
  72  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Walk to the small table to the left of the counter.  | STEP 2: Pick up the sponge that's behind the white cup.  | STEP 3: Walk over to face the stove.  | STEP 4: Put the sponge in the pan on the front right burner.  | STEP 5: Pick up the pan from the stove.  | STEP 6: walk over to the counter to the left of the sink.  | STEP 7: Put the pan down on the counter to the left of the bottle.  | END