Task: Put the pan with sponge 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           -1.5           0.901          -1.5           0              180            0
   1  Potato          -0.284         0.123          -0.115         0              270            0              84
   2  DishSponge      -3.082         0.746          -2.968         0              0              0              67
   3  DishSponge      -0.452         0.080          -1.570         0              0              0              50
   4  DishSponge      -2.990         0.716          -0.922         0              0              0              89
   5  Spatula         -0.243         0.928          -3.804         0              0              0              45
   6  Spoon           -2.987         0.914          -3.878         0              0              0              45
   7  Spoon           -0.412         0.914          -3.112         0              0              0              45
   8  Egg             -3.130         0.677          -1.879         0              90             0              86
   9  Egg             -0.189         1.048          -0.900         0              270            0              82
  10  Cup             -1.614         0.083          -3.673         0              0              0              61
  11  Plate           -2.519         0.715          -0.753         0              135            0              89
  12  Plate           -3.393         0.911          -2.926         0              0              0              45
  13  Knife           -0.500         0.779          -2.913         0              270            0              75
  14  Tomato          -3.036         0.935          -2.470         0              90             0              86
  15  Tomato          -2.629         0.963          -3.581         0              0              0              45
  16  SoapBottle      -2.620         0.713          -0.652         0              135            0              89
  17  SaltShaker      -3.167         0.710          -0.797         0              225            0              89
  18  Lettuce         -0.244         1.001          -3.012         0              0              0              45
  19  Lettuce         -3.292         0.804          -0.558         0              270            0              89
  20  Bread           -2.753         0.757          -0.785         0              135            0              89
  21  Mug             -3.130         1.393          -2.187         0              90             0              86
  22  Apple           -0.127         1.055          -0.851         0              270            0              82
  23  Apple           -3.027         0.683          -2.125         0              90             0              86
  24  Pot             -0.376         0.975          -2.031         0              180            0              74
  25  Egg             -0.065         1.048          -0.752         0              270            0              82
  26  Cup             -3.182         0.641          -2.125         0              90             0              86
  27  Bread           -2.581         0.754          -0.496         0              270            0              89
  28  Fork            -0.039         0.914          -3.952         0              0              0              45
  29  Pan             -0.394         0.973          -2.414         0              0              0              70
  30  Potato          -1.707         0.834          -3.790         0              0              0              87
  31  Lettuce         -1.324         0.988          -3.759         1.589          253.806        357.401        45
  32  Tomato          -3.079         1.448          -1.941         0              90             0              86
  33  Apple           -0.096         1.055          -0.950         0              270            0              82
  34  SoapBottle      -3.393         0.913          -3.126         0              0              0              45
  35  Spatula         -0.382         0.761          -3.079         0              90             0              75
  36  SaltShaker      -2.797         0.713          -0.162         0              225            0              89
  37  Knife           -0.530         0.778          -0.837         0              90             0              71
  38  PepperShaker    -0.176         0.912          -0.524         0              0              0              72
  39  ButterKnife     -0.419         0.916          -1.309         0              0              0              72
  40  Plate           -0.338         0.914          -1.616         0              0              0              72
  41  DishSponge      -3.098         0.713          -0.463         0              225            0              89
  42  Spoon           -3.346         0.914          -3.581         0              0              0              45
  43  Mug             -0.014         0.911          -1.432         0              0              0              72
  44  Bowl            -1.960         0.079          -3.635         0              0              0              66
  45  CounterTop      -1.789         0.949          -3.803         0              0              0
  46  Cabinet         -0.577         0.388          -3.476         0              0              0
  47  Cabinet         -0.605         0.388          -3.511         0              0              0
  48  Cabinet         -2.976         0.388          -3.201         0              0              0
  49  Cabinet         -0.577         0.388          -0.447         0              0              0
  50  Cabinet         -0.577         0.388          -1.725         0              0              0
  51  Cabinet         -0.226         1.803          -1.743         0              0              0
  52  Cabinet         -0.228         1.799          -0.447         0              0              0
  53  Cabinet         -6.010         1.139          -6.019         0              0              0
  54  Cabinet         -3.022         2.098          -2.681         0              0              0
  55  Cabinet         -3.022         2.098          -1.743         0              0              0
  56  Cabinet         -0.577         0.388          -2.736         0              0              0
  57  Cabinet         -3.232         1.803          -3.343         0              0              0
  58  Cabinet         -2.811         1.810          -3.764         0              0              0
  59  Cabinet         -1.233         1.810          -3.764         0              0              0
  60  Cabinet         -1.364         0.388          -3.511         0              0              0
  61  Cabinet         -1.380         0.388          -3.511         0              0              0
  62  Cabinet         -0.226         1.803          -2.725         0              0              0
  63  Cabinet         -0.236         2.098          -1.767         0              0              0
  64  Cabinet         -0.236         2.098          -2.705         0              0              0
  65  Cabinet         -0.193         1.210          -4.239         0              0              0
  66  Cabinet         -2.148         0.388          -3.511         0              0              0
  67  Drawer          -3.104         0.797          -2.968         0              0              0
  68  Drawer          -0.449         0.797          -1.410         0              0              0
  69  Sink            -1.786         0.902          -3.748         0              0              0
  70  StoveBurner     -0.376         0.936          -2.451         0              0              0
  71  Drawer          -0.449         0.797          -0.762         0              0              0
  72  CounterTop      -0.268         0.951          -1.089         0              0              0
  73  Drawer          -0.449         0.797          -3.348         0              0              0
  74  StoveBurner     -0.376         0.936          -2.031         0              180            0
  75  Drawer          -0.449         0.797          -2.968         0              0              0
  76  StoveBurner     -0.165         0.936          -2.030         0              180            0
  77  StoveBurner     -0.165         0.936          -2.450         0              0              0
  78  StoveKnob       -0.568         0.903          -2.313         45             270            0
  79  StoveKnob       -0.568         0.903          -2.470         45             270            0
  80  StoveKnob       -0.568         0.903          -2.166         45             270            0
  81  StoveKnob       -0.568         0.903          -2.003         45             270            0
  82  Microwave       -0.143         0.903          -0.908         0              270            0
  83  LightSwitch     -1.108         1.457          0.338          0              180            0
  84  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  85  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  86  Fridge          -3.188         0.0            -2.184         0              0              0
  87  SinkBasin       -1.786         0.779          -3.747         0              0              0
  88  Toaster         -0.230         0.903          -3.406         0              270            0
  89  DiningTable     -2.800         0.003          -0.505         0              0              0
  90  Chair           -3.044         0.003          -1.223         0              32.194         0
  91  Faucet          -1.791         1.136          -3.913         0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn to your left facing the cabinet beside the stove | STEP 2: Open the cabinet and pick up the sponge then close the cabinet | STEP 3: Turn right then face the stove on your left | STEP 4: Put the sponge in the pan  | STEP 5: Pick up the pan with sponge at the stove | STEP 6: Turn right then stand on the counter beside the sink  | STEP 7: Put the pan with sponge on the counter beside the tomato | END