Task: Take a sponge out of the cabinet to put in a pan and place in the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          2.75           0              0              0
   1  Pan             0.889          0.911          -1.318         0              0              0              70
   2  Potato          -1.716         0.863          -0.269         0              90             0              93
   3  Potato          -1.796         0.066          1.247          0              270            0              84
   4  CellPhone       -0.320         0.923          0.273          0              0              0              78
   5  CellPhone       1.661          0.235          0.047          0              0              0              53
   6  Ladle           -1.151         0.157          -1.360         0              0              0              82
   7  Kettle          1.975          0.938          0.819          0              180            0              80
   8  DishSponge      -0.744         1.679          -1.690         0              0              0              72
   9  DishSponge      1.603          0.121          0.527          0              270            0              62
  10  ButterKnife     -0.106         0.925          1.202          0              0              0              78
  11  Spoon           1.714          0.122          0.599          0              270            0              62
  12  Spatula         1.764          0.485          -0.088         0              0              0              66
  13  Pot             1.975          0.938          0.384          0              180            0              56
  14  Egg             -1.750         1.526          0.201          0              90             0              93
  15  Plate           -1.750         1.675          0.201          0              90             0              93
  16  Knife           0.214          0.947          0.273          0              90             0              78
  17  Knife           0.107          0.947          0.970          0              0              0              78
  18  SoapBottle      -0.213         0.929          0.041          0              0              0              78
  19  Tomato          -1.721         0.618          0.107          0              90             0              93
  20  Tomato          0.107          0.980          0.273          0              0              0              78
  21  SaltShaker      1.802          0.907          -1.513         0              0              0              70
  22  SaltShaker      -0.320         0.921          -0.190         0              0              0              78
  23  Bread           0.321          1.006          0.738          0              0              0              78
  24  Lettuce         -0.106         1.002          0.970          0              0              0              78
  25  SoapBottle      -0.744         1.683          -1.577         0              0              0              72
  26  Cup             -1.645         1.467          0.013          0              90             0              93
  27  Pot             -0.213         0.929          0.506          0              0              0              78
  28  Fork            1.562          0.545          1.350          0              270            0              68
  29  Ladle           -0.193         0.159          -1.347         0              0              0              49
  30  Kettle          1.765          0.938          0.819          0              180            0              67
  31  Egg             -0.106         0.982          0.738          0              0              0              78
  32  Plate           -1.874         0.910          -1.415         0              0              0              70
  33  Pan             -1.286         0.9            -1.348         0              79.769         0              70
  34  Lettuce         -1.462         0.988          -1.610         0              0              0              70
  35  Spatula         1.815          0.594          0.531          0              0              0              74
  36  Apple           -0.320         0.978          0.970          0              0              0              78
  37  Knife           1.769          0.785          1.438          0              0              0              76
  38  SaltShaker      -0.418         0.111          -1.347         0              0              0              49
  39  PepperShaker    1.900          0.907          1.258          0              0              0              70
  40  CellPhone       1.900          0.909          1.107          0              0              0              70
  41  ButterKnife     -1.727         0.911          -1.063         0              0              0              70
  42  Bread           0.256          0.987          -0.076         0              330.886        0              78
  43  Tomato          -1.663         0.618          -0.175         0              90             0              93
  44  Potato          -1.783         0.863          -0.081         0              90             0              93
  45  DishSponge      1.658          0.761          1.147          0              270            0              76
  46  Spoon           -0.213         0.926          0.738          0              0              0              78
  47  Mug             1.956          1.001          -0.547         0              270            0              91
  48  Bowl            1.587          1.678          -1.652         0              0              0              69
  49  Cabinet         -0.495         0.474          -1.149         0              0              0
  50  Window          -0.010         1.582          -1.821         0              0              0
  51  Drawer          0.805          0.475          -1.159         0              0              0
  52  StoveBurner     1.764          0.902          0.601          0              270            0
  53  Drawer          1.5            0.196          -0.019         0              0              0
  54  Drawer          1.5            0.629          -0.018         0              0              0
  55  Drawer          1.5            0.602          -0.019         0              270            0
  56  StoveBurner     1.975          0.902          0.384          0              270            0
  57  Cabinet         -1.703         2.022          -1.453         0              90             0
  58  Cabinet         1.789          2.019          -0.819         0              270            0
  59  Cabinet         0.494          0.474          -1.149         0              0              0
  60  Cabinet         0.409          0.475          0.444          0              0              0
  61  Drawer          -0.696         0.475          -1.159         0              0              0
  62  Drawer          1.5            0.140          0.599          0              270            0
  63  Cabinet         1.389          0.474          -1.149         0              0              0
  64  Drawer          1.5            0.305          0.600          0              0              0
  65  StoveBurner     1.975          0.902          0.601          0              270            0
  66  Drawer          1.5            0.429          -0.019         0              0              0
  67  StoveBurner     1.764          0.902          0.819          0              270            0
  68  Drawer          1.5            0.519          1.220          0              0              0
  69  Cabinet         1.705          2.019          -1.449         0              0              0
  70  CounterTop      0.002          0.947          -1.513         0              0              0
  71  Drawer          1.5            0.629          0.605          0              0              0
  72  Cabinet         -0.627         2.019          -1.449         0              0              0
  73  StoveBurner     1.764          0.902          0.384          0              270            0
  74  Drawer          1.5            0.538          0.600          0              0              0
  75  Sink            0.0            0.893          -1.434         0              0              0
  76  Drawer          1.5            0.782          1.220          0              270            0
  77  Window          2.217          1.565          -0.384         0              0              0
  78  CounterTop      -0.014         0.961          0.505          0              0              0
  79  Drawer          1.5            0.200          1.220          0              0              0
  80  StoveBurner     1.975          0.902          0.819          0              270            0
  81  Window          -3.240         1.616          2.693          0              270            0
  82  Cabinet         -1.389         0.474          -1.149         0              0              0
  83  LightSwitch     -0.153         1.291          3.700          0              180            0
  84  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  85  StoveKnob       1.602          0.917          0.570          0              270            180
  86  StoveKnob       1.602          0.917          0.625          0              270            180
  87  StoveKnob       1.602          0.917          0.739          0              270            180
  88  StoveKnob       1.602          0.917          0.680          0              270            180
  89  StoveKnob       1.602          0.917          0.462          0              270            180
  90  StoveKnob       1.602          0.917          0.517          0              270            180
  91  Microwave       1.932          0.899          -0.766         0              270            0
  92  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  93  Fridge          -1.764         0.0            0.014          0              90             0
  94  SinkBasin       -0.014         0.736          -1.435         0              0              0
  95  Toaster         1.977          0.900          -0.336         0              270            0
  96  Faucet          -0.020         1.137          -1.605         0              270            0
  97  Chair           -9.354         0.000          1.242          0              180            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn around and step forward to the kitchen counter.  Look up to the kitchen cabinet. | STEP 2: Open the cabinet and remove the sponge in front of the dispenser, then close the door. | STEP 3: Come down to the floor, turn left and walk to the intersection and turn right  to face a pan. | STEP 4: Place the sponge upright on the left side of the pan. | STEP 5: Pick up the pan from the kitchen counter. | STEP 6: Turn right and walk forward till you reach the kitchen sink on the left.  Turn and face the sink. | STEP 7: Place the pan with the sponge in the sink. | END