Task: Take sponge from counter, place on pan on stove, pick both up, move to table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.75           0              90             0
   1  Ladle           2.801          0.803          3.895          0              270            0              49
   2  Ladle           1.409          1.066          -1.881         0              90             0              48
   3  DishSponge      -0.669         1.027          2.189          0              0              0              51
   4  DishSponge      2.354          0.801          1.026          0              317.0          0              61
   5  ButterKnife     2.376          0.764          4.495          0              0              0              49
   6  WineBottle      -1.061         1.781          1.685          0              0              0              65
   7  WineBottle      1.529          1.027          -1.774         0              90             0              48
   8  Glassbottle     2.275          0.765          4.118          0              270            0              49
   9  Glassbottle     -0.645         0.817          1.181          0              90             0              105
  10  Pot             2.177          1.027          -1.599         0              0              0              47
  11  Pot             -0.803         0.049          1.954          0              0              0              77
  12  Egg             -0.669         1.071          0.877          0              0              0              51
  13  Tomato          -0.987         0.839          -0.184         0              90             0              92
  14  SoapBottle      2.425          1.025          -1.560         0              90             0              48
  15  SaltShaker      -1.187         1.023          1.519          0              0              0              51
  16  SaltShaker      -1.171         1.023          1.943          0              0              0              51
  17  Bread           2.945          0.832          4.254          0              225            0              49
  18  Mug             2.599          0.759          3.795          0              0              0              49
  19  Apple           1.290          1.077          -1.987         0              90             0              48
  20  Pan             1.836          1.027          -1.84          0              90             0              46
  21  Glassbottle     2.515          0.765          4.007          0              329.999        0              49
  22  Knife           -0.794         1.052          1.821          0              0              0              51
  23  SoapBottle      2.673          0.763          3.445          0              0              0              49
  24  Egg             -0.968         1.486          -0.406         0              90             0              92
  25  Fork            2.959          1.027          -1.151         0              0              0              48
  26  Potato          1.895          1.903          -1.876         0              0              0              94
  27  Ladle           1.350          1.066          -1.560         0              90             0              48
  28  Tomato          2.790          1.080          -1.151         0              0              0              48
  29  Pot             -0.544         1.030          2.434          0              0              0              51
  30  WineBottle      -0.669         1.028          2.066          0              0              0              51
  31  Plate           2.790          1.027          0.068          0              0              0              48
  32  Spatula         2.439          1.041          1.056          0              136.999        0              48
  33  PaperTowelRoll  2.626          0.868          4.044          0              270            0              49
  34  Lettuce         2.086          0.822          3.815          0              225            0              49
  35  Apple           -1.069         0.836          -0.516         0              90             0              92
  36  SaltShaker      1.290          1.023          -1.454         0              90             0              48
  37  PepperShaker    2.815          0.028          -0.426         0              0              0              74
  38  ButterKnife     2.451          0.764          3.97           0              90             0              49
  39  Bread           2.605          0.832          4.334          0              225            0              49
  40  Cup             -0.451         0.044          1.895          0              0              0              77
  41  DishSponge      -0.762         2.289          -0.217         0              0              0              79
  42  Bowl            1.230          1.025          -1.667         0              90             0              48
  43  Spoon           2.650          0.802          -1.086         0              0              0              48
  44  Mug             -0.577         0.811          1.414          0              90             0              105
  45  Sink            -0.716         1.023          1.333          0              0              0
  46  StoveBurner     1.835          1.018          -1.840         0              90             0
  47  StoveBurner     2.177          1.018          -1.599         0              0              0
  48  CounterTop      2.812          0.992          0.675          0              0              0
  49  DiningTable     2.419          0.003          3.930          0              0              0
  50  Drawer          -0.643         0.828          0.616          0              0              0
  51  CounterTop      -0.813         1.062          2.188          0              0              0
  52  StoveBurner     2.115          1.018          -1.840         0              270            0
  53  Drawer          -0.643         0.831          1.953          0              0              0
  54  Drawer          -0.643         0.833          2.418          0              0              0
  55  Drawer          1.347          0.836          -1.539         0              0              0
  56  Drawer          2.693          0.833          -1.131         0              0              0
  57  Drawer          2.693          0.833          -0.699         0              0              0
  58  Drawer          2.693          0.833          -0.267         0              0              0
  59  Drawer          2.693          0.833          0.163          0              0              0
  60  Drawer          2.524          0.833          0.720          0              2.000          0
  61  Drawer          2.232          0.833          1.036          0              2.000          0
  62  Drawer          1.936          0.833          1.354          0              2.000          0
  63  Drawer          1.646          0.833          1.670          0              2.000          0
  64  Cabinet         1.504          2.475          -1.710         0              0              0
  65  Cabinet         -0.823         2.220          1.621          0              0              0
  66  Cabinet         -0.823         2.220          0.615          0              0              0
  67  Cabinet         1.136          0.388          -1.355         0              0              0
  68  Cabinet         -0.356         0.383          2.626          0              0              0
  69  Cabinet         2.745          2.220          -1.690         0              0              0
  70  Cabinet         1.882          0.383          1.017          0              0              0
  71  Cabinet         1.307          0.473          1.640          0              0              0
  72  Cabinet         1.892          0.383          1.006          0              0              0
  73  Cabinet         2.467          0.383          0.383          0              0              0
  74  Cabinet         2.466          0.383          -0.475         0              0              0
  75  Cabinet         2.466          0.473          0.371          0              0              0
  76  Cabinet         2.386          2.475          -1.710         0              0              0
  77  Cabinet         -0.356         0.383          1.712          0              0              0
  78  Cabinet         2.745          2.220          0.019          0              0              0
  79  Cabinet         -0.663         2.496          0.157          0              0              0
  80  Cabinet         -0.663         2.496          -0.868         0              0              0
  81  Cabinet         -0.356         0.383          0.269          0              0              0
  82  Cabinet         -0.823         2.220          1.603          0              0              0
  83  Cabinet         -0.662         2.234          0.586          0              0              0
  84  Cabinet         2.745          2.220          -0.843         0              0              0
  85  Cabinet         2.745          2.220          -0.827         0              0              0
  86  Cabinet         -0.823         2.220          2.608          0              0              0
  87  Cabinet         2.732          2.226          -1.709         0              0              0
  88  Cabinet         1.137          2.226          -1.709         0              0              0
  89  Cabinet         2.466          0.383          -0.491         0              0              0
  90  Cabinet         2.466          0.383          -1.339         0              0              0
  91  StoveBurner     1.761          1.018          -1.599         0              0              0
  92  Fridge          -0.908         0.0            -0.405         0              0              0
  93  HousePlant      2.517          1.016          1.822          0              0              0
  94  Microwave       1.939          1.745          -1.826         0              0              0
  95  StoveKnob       2.017          1.041          -1.514         0              180            180
  96  StoveKnob       1.934          1.041          -1.514         0              180            180
  97  StoveKnob       2.017          1.041          -1.589         0              180            180
  98  StoveKnob       1.934          1.041          -1.589         0              180            180
  99  Window          1.756          1.608          4.762          90             0              0
 100  HousePlant      2.171          1.004          2.091          0              0              0
 101  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 102  LightSwitch     -0.099         1.410          -2.066         0              0              0
 103  GarbageCan      -0.951         -0.029         2.826          0              0              0
 104  Toaster         -1.007         1.018          2.238          0              90             0
 105  SinkBasin       -0.714         0.805          1.348          0              90             0
 106  Chair           1.615          0.004          4.310          0              107.976        0
 107  Faucet          -1.120         1.013          1.334          0              90             0
 108  Chair           2.759          0.004          3.086          0              358.967        0
 109
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Turn left, go to end of counter on left.  Turn left to face counter with toaster on it. | STEP 2: Pick up green sponge from counter in front of toaster. | STEP 3: Turn right, go to sink on right.  Turn left, go to counter.  Turn right, proceed to stove. | STEP 4: Place sponge in pan on back right burner. | STEP 5: Pick up pan with sponge from back right burner. | STEP 6: Turn around, proceed past counter.  Turn right, proceed to wall.  Turn left to face table. | STEP 7: Put pan with sponge on table below the lettuce. | END