Task: place a pan with a sponge in it down on the kitchen table

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          0.914          2.0            0              180            0
   1  Pan             -3.148         0.966          2.374          0              0              0              43
   2  WineBottle      -2.022         0.916          4.146          0              0              0              40
   3  Spoon           -2.302         0.916          4.106          0              0              0              40
   4  Fork            -3.559         0.916          1.524          0              0              0              49
   5  Fork            -3.368         0.916          1.357          0              0              0              49
   6  Egg             -0.440         1.021          4.051          0              180            0              66
   7  Egg             -0.673         0.758          3.843          0              180            0              66
   8  Knife           -3.038         0.768          1.510          0              270            0              41
   9  Tomato          -1.666         0.858          3.662          0              0              0              70
  10  Tomato          -0.440         1.610          4.067          0              180            0              66
  11  Bowl            -1.711         0.914          4.146          0              0              0              40
  12  PepperShaker    -3.573         1.455          2.922          0              0              0              47
  13  Bread           -3.559         0.997          1.273          0              0              0              49
  14  Bread           -1.504         0.996          4.188          0              0              0              40
  15  Apple           -3.272         0.975          1.440          0              0              0              49
  16  Apple           -1.921         0.849          3.737          0              0              0              70
  17  Egg             -1.161         0.121          3.852          0              270            0              72
  18  Knife           -1.711         0.939          3.490          0              0              0              40
  19  Fork            -3.176         0.916          1.357          0              90             0              49
  20  Bread           -0.089         1.067          4.051          0              180            0              66
  21  Potato          -0.673         1.018          3.926          0              180            0              66
  22  Plate           -3.005         0.904          3.677          0              0              0              40
  23  Pot             -3.424         0.966          1.971          0              0              0              48
  24  Kettle          -3.143         0.966          1.971          0              0              0              60
  25  WineBottle      -3.233         0.082          2.752          0              0              0              53
  26  Bowl            -3.505         1.545          2.224          0              90             0              71
  27  Tomato          -3.081         0.984          1.524          0              0              0              49
  28  Cup             -3.442         1.546          2.016          0              90             0              71
  29  Spatula         -3.155         0.761          1.356          0              90             0              41
  30  SoapBottle      -1.612         0.080          3.586          0              0              0              45
  31  Lettuce         -3.176         1.001          3.008          0              0              0              40
  32  Pan             -2.614         0.902          3.620          0              0              0              40
  33  Apple           -1.192         0.146          3.756          0              270            0              72
  34  SaltShaker      -3.152         0.079          1.356          0              0              0              59
  35  PepperShaker    -3.654         0.912          1.607          0              0              0              49
  36  ButterKnife     -3.176         0.915          3.499          0              0              0              40
  37  DishSponge      -3.458         1.994          1.999          0              0              0              54
  38  Spoon           -3.214         0.747          1.356          0              90             0              41
  39  Mug             -3.438         1.450          3.729          0              0              0              57
  40  CounterTop      -3.381         0.950          3.335          0              0              0
  41  Drawer          -3.121         0.775          1.357          0              0              0
  42  Drawer          -3.121         0.777          2.916          0              0              0
  43  StoveBurner     -3.148         0.958          2.374          0              0              0
  44  Sink            -1.797         0.917          3.660          0              0              0
  45  Cabinet         -1.421         0.388          3.459          0              0              0
  46  StoveBurner     -3.424         0.958          2.374          0              0              0
  47  Cabinet         -3.365         1.931          2.676          0              0              0
  48  StoveBurner     -3.424         0.958          1.971          0              0              0
  49  CounterTop      -3.381         0.951          1.356          0              0              0
  50  Drawer          -3.121         0.781          3.295          0              0              0
  51  Cabinet         -2.205         0.388          3.459          0              0              0
  52  Cabinet         -2.963         0.388          3.459          0              0              0
  53  Cabinet         -2.992         0.388          2.683          0              0              0
  54  Cabinet         -3.352         2.205          1.715          0              0              0
  55  Cabinet         -3.352         2.205          2.653          0              0              0
  56  Cabinet         -2.189         0.388          3.466          0              0              0
  57  Cabinet         -3.365         1.931          3.963          0              0              0
  58  Cabinet         -3.365         1.931          1.056          0              0              0
  59  Cabinet         -2.992         0.388          1.037          0              0              0
  60  StoveBurner     -3.143         0.958          1.971          0              0              0
  61  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  62  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  63  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  64  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  65  Toaster         -2.654         0.902          4.064          0              180            0
  66  Fridge          -0.439         0.014          3.996          0              0              0
  67  LightSwitch     0.25           1.383          2.085          0              270            0
  68  Window          -1.430         1.338          -0.347         90             0              0
  69  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  70  SinkBasin       -1.802         0.778          3.700          0              0              0
  71  Microwave       -3.484         1.430          2.182          0              90             0
  72  GarbageCan      -1.184         -0.020         3.794          0              270            0
  73  Blinds          -1.404         2.092          -0.296         0              0              0
  74  Stool           -1.373         0.014          1.048          1.214          20.754         0
  75  Faucet          -1.788         0.903          3.931          270            90             0
  76  DiningTable     -1.399         0.010          0.238          0              0              0
  77  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: turn right and walk over to the stove ahead, then look up to face the cabinets above the microwave which is above the stove | STEP 2: grab the sponge out of the left side cabinet above the microwave | STEP 3: look back down at the stove top | STEP 4: place the sponge inside the pan on the back left burner | STEP 5: grab that pan with the sponge in it off of the stove | STEP 6: turn around and walk over to the end of the room, then take a right and walk over to the small table against the wall at the end of the room with the window | STEP 7: place the pan down on the table there | END