Task: Put a pan with a sponge on it on 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           -2.5           0.914          3.0            0              0              0
   1  Potato          -3.442         1.578          2.068          0              90             0              72
   2  Potato          -1.602         0.821          3.625          0              180            0              71
   3  DishSponge      -3.155         0.744          1.125          0              0              0              42
   4  WineBottle      -1.256         0.088          3.724          0              270            0              73
   5  WineBottle      -3.073         0.084          1.356          0              0              0              60
   6  Spatula         -3.126         0.761          2.806          0              90             0              43
   7  Spatula         -3.463         0.930          1.273          0              270            0              50
   8  Spoon           -3.215         0.748          2.806          0              90             0              43
   9  Fork            -3.463         0.916          1.440          0              0              0              50
  10  Pot             -3.143         0.966          1.971          0              0              0              61
  11  Cup             -3.492         1.994          2.363          0              0              0              56
  12  Cup             -3.559         0.915          1.440          0              0              0              50
  13  Bowl            -1.921         0.788          3.737          0              0              0              71
  14  PepperShaker    -3.068         0.741          1.587          0              0              0              42
  15  Lettuce         -3.272         1.001          3.663          0              0              0              41
  16  Apple           -0.790         1.046          4.051          0              180            0              67
  17  Apple           -1.729         0.849          3.625          0              0              0              71
  18  Egg             -3.410         1.581          2.172          0              90             0              72
  19  Knife           -1.711         0.939          3.480          0              180            0              41
  20  Fork            -3.272         0.916          1.189          0              0              0              50
  21  Bread           -1.522         0.963          0.276          0              280.313        0              77
  22  Potato          -3.568         1.578          2.068          0              90             0              72
  23  Plate           -3.005         0.904          3.677          0              0              0              41
  24  Pot             -3.424         0.966          2.374          0              0              0              47
  25  Kettle          -3.148         0.966          2.374          0              0              0              44
  26  WineBottle      -1.161         0.087          3.820          0              270            0              73
  27  Bowl            -2.905         0.914          4.214          0              0              0              41
  28  Tomato          -0.089         1.610          4.170          0              180            0              67
  29  Cup             -3.568         1.546          2.224          0              90             0              72
  30  Spatula         -3.654         0.930          2.844          0              180            0              41
  31  SoapBottle      -2.410         0.080          3.702          0              0              0              52
  32  Lettuce         -1.759         0.974          0.085          0              0              0              77
  33  Pan             -2.614         0.902          3.620          0              0              0              41
  34  Apple           -1.815         0.975          4.188          0              0              0              41
  35  SaltShaker      -2.804         0.911          3.675          0              0              0              41
  36  PepperShaker    -3.155         0.742          1.433          0              0              0              42
  37  ButterKnife     -2.022         0.915          4.146          0              0              0              41
  38  DishSponge      -2.302         0.915          3.890          0              0              0              41
  39  Spoon           -3.176         0.916          1.440          0              0              0              50
  40  Mug             -2.302         0.910          3.567          0              270            0              41
  41  CounterTop      -3.381         0.950          3.335          0              0              0
  42  Drawer          -3.121         0.775          1.357          0              0              0
  43  Drawer          -3.121         0.777          2.916          0              0              0
  44  StoveBurner     -3.148         0.958          2.374          0              0              0
  45  Sink            -1.797         0.917          3.660          0              0              0
  46  Cabinet         -1.421         0.388          3.459          0              0              0
  47  StoveBurner     -3.424         0.958          2.374          0              0              0
  48  Cabinet         -3.365         1.931          2.676          0              0              0
  49  StoveBurner     -3.424         0.958          1.971          0              0              0
  50  CounterTop      -3.381         0.951          1.356          0              0              0
  51  Drawer          -3.121         0.781          3.295          0              0              0
  52  Cabinet         -2.205         0.388          3.459          0              0              0
  53  Cabinet         -2.963         0.388          3.459          0              0              0
  54  Cabinet         -2.992         0.388          2.683          0              0              0
  55  Cabinet         -3.352         2.205          1.715          0              0              0
  56  Cabinet         -3.352         2.205          2.653          0              0              0
  57  Cabinet         -2.189         0.388          3.466          0              0              0
  58  Cabinet         -3.365         1.931          3.963          0              0              0
  59  Cabinet         -3.365         1.931          1.056          0              0              0
  60  Cabinet         -2.992         0.388          1.037          0              0              0
  61  StoveBurner     -3.143         0.958          1.971          0              0              0
  62  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  63  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  64  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  65  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  66  Toaster         -2.654         0.902          4.064          0              180            0
  67  Fridge          -0.439         0.014          3.996          0              0              0
  68  LightSwitch     0.25           1.383          2.085          0              270            0
  69  Window          -1.430         1.338          -0.347         90             0              0
  70  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  71  SinkBasin       -1.802         0.778          3.700          0              0              0
  72  Microwave       -3.484         1.430          2.182          0              90             0
  73  GarbageCan      -1.184         -0.020         3.794          0              270            0
  74  Blinds          -1.404         2.092          -0.296         0              0              0
  75  Stool           -1.373         0.014          1.048          1.214          20.754         0
  76  Faucet          -1.788         0.903          3.931          270            90             0
  77  DiningTable     -1.399         0.010          0.238          0              0              0
  78  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn right, then turn left to face the counter next to the sink. | STEP 2: Pick up the sponge on the counter. | STEP 3: Turn around, move forward, turn right, then turn around again to face the counter to the left of the sink. | STEP 4: Place the sponge on the pan that is on the counter, in front of the toaster. | STEP 5: Pick up the pan with the sponge on it. | STEP 6: Turn right, go to the door, then turn right, then turn right at the table. | STEP 7: Place the pan on the table towards the right. | END