Task: put a sponge in a pan and put the pan on 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           -0.5           0.869          -3.25          0              270            0
   1  DishSponge      0.961          0.664          0.448          0              0              0              45
   2  DishSponge      0.715          0.772          -0.570         0              270            0              63
   3  DishSponge      0.841          0.772          -0.625         0              270            0              63
   4  Spatula         -0.654         0.915          1.272          0              0              0              66
   5  Spoon           0.817          0.761          0.002          0              90             0              39
   6  Fork            0.901          0.665          0.630          0              0              0              45
   7  Egg             0.708          0.502          -1.958         0              270            0              60
   8  Tomato          0.785          1.423          -1.958         0              270            0              60
   9  SoapBottle      0.901          0.663          0.326          0              0              0              45
  10  SoapBottle      0.950          0.882          -0.108         0              0              0              40
  11  Bowl            -0.855         0.899          0.843          0              270            0              66
  12  PepperShaker    0.903          1.460          -0.084         0              0              0              51
  13  PepperShaker    -1.535         0.696          -3.614         0              0              0              67
  14  SaltShaker      0.601          0.660          0.387          0              0              0              45
  15  SaltShaker      1.055          0.879          -0.460         0              0              0              40
  16  Lettuce         0.715          0.859          -0.790         0              270            0              63
  17  Mug             0.721          0.659          0.265          0              0              0              45
  18  Pot             -1.552         0.930          0.785          0              0              0              44
  19  Plate           0.787          0.019          -0.053         0              0              0              50
  20  Fork            0.720          0.760          0.002          0              270            0              39
  21  SoapBottle      -1.224         0.051          -3.574         0              270            0              55
  22  Apple           -1.949         0.852          -3.673         0              0              0              62
  23  Pan             -2.097         0.930          1.049          0              0              0              47
  24  Egg             -1.297         0.088          -3.720         0              270            0              55
  25  Spatula         -1.635         0.716          -0.983         0              0              0              76
  26  Potato          0.601          0.698          0.630          0              0              0              45
  27  Cup             -1.556         0.695          -3.276         0              0              0              67
  28  SaltShaker      -0.855         0.896          1.187          0              270            0              66
  29  PepperShaker    -0.051         0.896          1.272          0              270            0              66
  30  ButterKnife     0.754          0.755          -0.743         0              45             0              63
  31  DishSponge      0.149          0.900          1.187          0              270            0              66
  32  Bread           -0.051         0.944          0.929          0              270            0              66
  33  Lettuce         0.781          0.751          0.508          0              0              0              45
  34  Tomato          0.746          0.713          -1.880         0              270            0              60
  35  Spoon           0.671          0.760          -0.061         0              0              0              39
  36  Knife           -1.056         0.923          1.187          0              270            0              66
  37  Mug             0.698          0.941          -1.360         0              270            0              53
  38  Bowl            -2.038         0.691          -1.003         0              0              0              76
  39  Drawer          0.706          0.766          -0.125         0              0              0
  40  CounterTop      0.792          0.919          -0.108         0              0              0
  41  Mirror          1.093          1.602          -0.643         0              0              0
  42  StoveBurner     -2.096         0.890          0.785          0              0              0
  43  Cabinet         0.507          0.345          -0.426         0              0              0
  44  StoveBurner     -1.552         0.890          0.785          0              0              0
  45  SideTable       0.770          -0.030         0.443          0              0              0
  46  Sink            0.753          0.882          -0.680         0              0              0
  47  StoveBurner     -2.096         0.890          1.049          0              0              0
  48  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  49  StoveBurner     -1.554         0.890          1.049          0              0              0
  50  Cabinet         0.507          0.345          0.156          0              0              0
  51  Cabinet         0.717          1.822          -0.398         0              0              0
  52  Cabinet         0.717          1.822          0.669          0              0              0
  53  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  54  Toaster         -0.522         0.886          1.081          0              180            0
  55  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  56  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  58  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  60  Fridge          0.680          -0.031         -1.957         0              0              0
  61  Window          -2.424         1.639          -2.453         90             270            0
  62  Microwave       -1.994         0.690          -3.651         0              0              0
  63  SinkBasin       0.757          0.762          -0.688         0              270            0
  64  LightSwitch     1.102          1.368          -3.737         0              270            0
  65  Shelf           -0.350         0.124          0.857          0              0              0
  66  DiningTable     -0.350         -0.025         0.857          0              0              0
  67  DiningTable     -1.909         -0.032         -3.507         0              0              0
  68  Blinds          -2.343         2.151          -2.437         0              270            0
  69  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  70  AluminumFoil    0.751          0.225          0.287          0              0              0
  71  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  72  Shelf           0.771          0.226          0.445          0              0              0
  73  Shelf           0.771          0.456          0.446          0              0              0
  74  Faucet          1.025          0.873          -0.678         270            180            0
  75  Shelf           -0.350         0.497          0.857          0              0              0
  76  DiningTable     -1.929         -0.035         -1.398         0              90             0
  77  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: go to the sink | STEP 2: pick up the left most sponge from the sink | STEP 3: take the sponge to the stove | STEP 4: put the sponge in the pan on the back left burner | STEP 5: pick up the pan from the stove | STEP 6: take the pan to the counter left of the sink | STEP 7: put the pan on the counter | END