Task: Grab the sponge from the cabinet, move the sponge with the pan from stove to the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.900          -2.5           0              90             0
   1  Potato          -0.447         0.828          -2.155         0              270            0              67
   2  Potato          -1.912         0.058          -3.690         0              0              0              65
   3  WineBottle      -0.460         0.081          -3.330         0              0              0              55
   4  WineBottle      -0.211         1.528          -3.230         0              0              0              61
   5  Pot             -1.515         0.935          -3.497         0              0              0              46
   6  Plate           -0.460         0.083          -1.849         0              0              0              44
   7  Plate           -0.747         0.084          -3.545         0              0              0              55
   8  Egg             -1.362         1.663          -3.903         0              0              0              62
   9  Egg             -0.348         1.723          -0.979         0              270            0              66
  10  SoapBottle      -0.422         0.079          -2.155         0              0              0              54
  11  SoapBottle      -0.162         1.526          -2.914         0              0              0              61
  12  Lettuce         -0.457         1.008          -3.697         0              0              0              49
  13  Bread           -0.295         1.151          -0.874         0              270            0              66
  14  PepperShaker    -0.449         0.743          -3.327         0              0              0              60
  15  PepperShaker    -0.749         0.743          -3.527         0              0              0              48
  16  Mug             -0.138         1.522          -2.598         0              0              0              61
  17  Apple           -0.671         0.989          -3.626         0              0              0              49
  18  Apple           -1.257         1.703          -3.936         0              0              0              62
  19  Apple           -0.350         0.870          -1.934         0              270            0              67
  20  Lettuce         -2.562         1.002          -1.677         36.385         0              0              74
  21  Glassbottle     -0.344         0.082          -2.293         0              0              0              54
  22  Egg             -1.151         1.663          -3.903         0              0              0              62
  23  Pen             -0.457         0.918          -3.485         0              0              0              49
  24  Fork            -0.295         0.788          -1.858         0              0              0              67
  25  SoapBottle      -1.943         0.025          -3.835         0              0              0              65
  26  Pencil          -0.508         0.747          -3.238         0              90             0              60
  27  WineBottle      -0.460         0.081          -3.205         0              0              0              55
  28  Spatula         -0.3           0.915          -2.544         0              22.903         0              49
  29  Bread           -0.343         1.443          -0.665         0              270            0              66
  30  Tomato          -0.228         1.754          -0.770         0              270            0              66
  31  Pan             -2.174         0.913          -1.099         0              0              0              74
  32  Cup             -0.388         1.689          -0.455         0              270            0              66
  33  Pot             -1.129         0.935          -3.498         0              0              0              47
  34  SaltShaker      -0.942         1.965          -3.812         0              0              0              58
  35  Potato          -0.228         1.722          -0.560         0              270            0              66
  36  PepperShaker    -0.385         0.912          -3.909         0              0              0              49
  37  ButterKnife     -0.528         0.915          -3.697         0              0              0              49
  38  DishSponge      -0.230         1.970          -1.883         0              0              0              51
  39  Spoon           -0.328         0.786          -2.125         0              33.895         0              67
  40  Plate           -0.363         1.533          -3.706         0              45             0              57
  41  Knife           -0.222         0.938          -3.771         0              90             0              49
  42  Mug             -0.351         0.962          -3.144         0              270            0              63
  43  Bowl            -1.601         1.968          -3.851         0              0              0              58
  44  Cabinet         -0.582         0.388          -1.804         0              0              0
  45  StoveBurner     -1.515         0.928          -3.752         0              90             0
  46  StoveBurner     -1.515         0.928          -3.497         0              0              0
  47  StoveBurner     -1.129         0.928          -3.498         0              0              0
  48  Drawer          -0.749         0.779          -3.551         0              0              0
  49  CounterTop      -0.303         0.951          -2.793         0              0              0
  50  Cabinet         -0.883         2.140          -3.687         0              0              0
  51  Cabinet         -0.312         2.140          -1.543         0              0              0
  52  Sink            -0.349         0.907          -2.014         0              0              0
  53  Cabinet         -0.877         0.388          -3.422         0              0              0
  54  Cabinet         -0.582         0.388          -2.197         0              0              0
  55  Cabinet         -0.584         0.388          -3.396         0              0              0
  56  Cabinet         -0.312         2.140          -2.481         0              0              0
  57  Cabinet         -0.330         1.921          -3.390         0              0              0
  58  Cabinet         -1.764         2.140          -3.687         0              0              0
  59  StoveBurner     -1.129         0.928          -3.752         0              90             0
  60  Drawer          -0.454         0.779          -3.268         0              0              0
  61  Cabinet         -0.302         1.916          -2.501         0              0              0
  62  Microwave       -1.317         1.517          -3.801         0              1.440          0
  63  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  64  LightSwitch     -4.323         1.319          0.0            0              180            0
  65  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  66  Fridge          -0.330         0.0            -0.769         0              270            0
  67  SinkBasin       -0.350         0.786          -2.018         0              270            0
  68  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  69  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  70  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  71  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  72  Toaster         -0.181         0.903          -2.764         0              270            0
  73  Window          -2.503         1.782          -4.185         90             180            0
  74  DiningTable     -2.432         0.000          -1.694         0              270            0
  75  Shelf           -2.432         0.150          -1.694         0              270            0
  76  Blinds          -2.536         2.699          -3.959         0              0              0
  77  Faucet          -0.079         0.904          -2.034         270            180            0
  78  Chair           -3.264         0.002          -2.094         0              53.280         0
  79  Chair           -3.240         0.002          -1.253         0              117.257        0
  80  Shelf           -2.432         0.523          -1.694         0              270            0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn right, walk around to the sink | STEP 2: Open the left door of the top cabinet, Take the yellow sponge out of the cabinet, close the cabinet | STEP 3: Turn around, walk to the stove | STEP 4: Put the sponge in the pan on the right | STEP 5: Take the whole pan on the stove | STEP 6: Turn around, walk to the green table | STEP 7: Put the pan at the edge of the table | END