Task: To put a sponge in a pan and set it to the right of the sink 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           -1.75          0.901          -1.5           0              0              0
   1  DishSponge      -3.056         0.913          -3.428         0              0              0              42
   2  DishSponge      -2.797         0.713          -0.162         0              225            0              86
   3  DishSponge      -0.500         0.915          -1.432         0              0              0              69
   4  ButterKnife     -3.477         0.913          -3.327         0              0              0              42
   5  ButterKnife     -2.865         0.713          -0.638         0              0              0              86
   6  Spatula         0.007          0.928          -2.811         0              270            0              42
   7  Spatula         -1.638         0.805          -3.747         0              0              0              84
   8  Spoon           -0.095         0.917          -1.555         0              0              0              69
   9  Spoon           -3.199         0.747          -3.023         0              90             0              64
  10  Fork            -0.500         0.746          -3.079         0              90             0              72
  11  Cup             -2.723         0.717          -0.621         0              270            0              86
  12  Cup             -2.934         0.717          -0.829         0              225            0              86
  13  Plate           -3.079         1.397          -2.064         0              90             0              83
  14  Knife           -0.328         0.946          -3.012         0              0              0              42
  15  SoapBottle      -0.257         0.915          -1.370         0              0              0              69
  16  SoapBottle      -2.966         0.713          -0.596         0              225            0              86
  17  SaltShaker      -0.176         0.912          -1.309         0              0              0              69
  18  SaltShaker      -0.412         0.743          -0.761         0              0              0              68
  19  PepperShaker    -0.528         0.078          -3.411         0              0              0              43
  20  Mug             -2.576         0.711          -0.383         0              225            0              86
  21  Pot             -0.376         0.975          -2.031         0              180            0              71
  22  Egg             -3.079         0.677          -1.941         0              90             0              83
  23  Cup             -3.182         1.013          -2.125         0              90             0              83
  24  Bread           -0.327         0.948          -3.681         0              298.222        0              42
  25  Fork            -2.753         0.717          -0.785         0              135            0              86
  26  Pan             -0.394         0.973          -2.414         0              0              0              67
  27  Potato          -3.053         0.760          -0.922         0              0              0              86
  28  Lettuce         -1.324         0.988          -3.759         1.621          253.748        357.081        42
  29  Tomato          -0.039         0.963          -3.655         0              0              0              42
  30  Apple           -0.223         0.122          -0.115         0              270            0              81
  31  SoapBottle      -0.334         0.081          -3.317         0              0              0              43
  32  Spatula         -2.581         0.728          -0.496         0              180            0              86
  33  SaltShaker      -2.803         0.713          -0.496         0              0              0              86
  34  Knife           -0.530         0.778          -1.331         0              90             0              65
  35  PepperShaker    -0.500         0.912          -0.490         0              0              0              69
  36  ButterKnife     -0.338         0.916          -1.493         0              0              0              69
  37  Plate           -3.150         0.715          -0.558         0              270            0              86
  38  DishSponge      -1.845         0.790          -3.661         0              0              0              84
  39  Spoon           -2.808         0.914          -3.952         0              270            0              42
  40  Mug             -2.930         0.762          -0.358         0              135            0              82
  41  Bowl            -0.813         0.079          -3.635         0              0              0              44
  42  CounterTop      -1.789         0.949          -3.803         0              0              0
  43  Cabinet         -0.577         0.388          -3.476         0              0              0
  44  Cabinet         -0.605         0.388          -3.511         0              0              0
  45  Cabinet         -2.976         0.388          -3.201         0              0              0
  46  Cabinet         -0.577         0.388          -0.447         0              0              0
  47  Cabinet         -0.577         0.388          -1.725         0              0              0
  48  Cabinet         -0.226         1.803          -1.743         0              0              0
  49  Cabinet         -0.228         1.799          -0.447         0              0              0
  50  Cabinet         -6.010         1.139          -6.019         0              0              0
  51  Cabinet         -3.022         2.098          -2.681         0              0              0
  52  Cabinet         -3.022         2.098          -1.743         0              0              0
  53  Cabinet         -0.577         0.388          -2.736         0              0              0
  54  Cabinet         -3.232         1.803          -3.343         0              0              0
  55  Cabinet         -2.811         1.810          -3.764         0              0              0
  56  Cabinet         -1.233         1.810          -3.764         0              0              0
  57  Cabinet         -1.364         0.388          -3.511         0              0              0
  58  Cabinet         -1.380         0.388          -3.511         0              0              0
  59  Cabinet         -0.226         1.803          -2.725         0              0              0
  60  Cabinet         -0.236         2.098          -1.767         0              0              0
  61  Cabinet         -0.236         2.098          -2.705         0              0              0
  62  Cabinet         -0.193         1.210          -4.239         0              0              0
  63  Cabinet         -2.148         0.388          -3.511         0              0              0
  64  Drawer          -3.104         0.797          -2.968         0              0              0
  65  Drawer          -0.449         0.797          -1.410         0              0              0
  66  Sink            -1.786         0.902          -3.748         0              0              0
  67  StoveBurner     -0.376         0.936          -2.451         0              0              0
  68  Drawer          -0.449         0.797          -0.762         0              0              0
  69  CounterTop      -0.268         0.951          -1.089         0              0              0
  70  Drawer          -0.449         0.797          -3.348         0              0              0
  71  StoveBurner     -0.376         0.936          -2.031         0              180            0
  72  Drawer          -0.449         0.797          -2.968         0              0              0
  73  StoveBurner     -0.165         0.936          -2.030         0              180            0
  74  StoveBurner     -0.165         0.936          -2.450         0              0              0
  75  StoveKnob       -0.568         0.903          -2.313         45             270            0
  76  StoveKnob       -0.568         0.903          -2.470         45             270            0
  77  StoveKnob       -0.568         0.903          -2.166         45             270            0
  78  StoveKnob       -0.568         0.903          -2.003         45             270            0
  79  Microwave       -0.143         0.903          -0.908         0              270            0
  80  LightSwitch     -1.108         1.457          0.338          0              180            0
  81  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  82  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  83  Fridge          -3.188         0.0            -2.184         0              0              0
  84  SinkBasin       -1.786         0.779          -3.747         0              0              0
  85  Toaster         -0.230         0.903          -3.406         0              270            0
  86  DiningTable     -2.800         0.003          -0.505         0              0              0
  87  Chair           -3.044         0.003          -1.223         0              32.194         0
  88  Faucet          -1.791         1.136          -3.913         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn right and step forward to face the counter. | STEP 2: Pick up the sponge on the counter. | STEP 3: Take a step to the right to face the stove. | STEP 4: Place the sponge in the pan on the right side of the stove. | STEP 5: Pick up the pan with a sponge in it on the stove. | STEP 6: Turn around and step forward and turn left to face the counter to the right of the sink. | STEP 7: Place the pan with a sponge in it on the counter. | END