Task: clean a pan on the stove with the sponge and put 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           2.0            0.900          -1.0           0              270            0
   1  Ladle           2.525          0.803          4.495          0              0              0              48
   2  ButterKnife     2.203          0.764          4.251          0              329.999        0              48
   3  ButterKnife     2.304          0.764          4.521          0              329.999        0              48
   4  Glassbottle     -0.920         1.028          1.821          0              0              0              50
   5  Glassbottle     2.608          0.765          3.812          0              225            0              48
   6  Pot             2.706          1.029          -0.236         0              0              0              47
   7  Pot             2.116          1.027          -1.84          0              270            0              51
   8  Spoon           2.046          0.765          4.372          0              59.999         0              48
   9  Spoon           2.525          0.765          3.97           0              270            0              48
  10  Fork            2.323          0.802          1.060          0              317.0          0              60
  11  Egg             -0.877         1.486          -0.405         0              90             0              91
  12  Knife           -0.731         0.827          0.454          0              90             0              49
  13  Knife           -0.782         0.841          1.259          0              180            0              104
  14  Bowl            2.959          1.025          -1.456         0              0              0              47
  15  Bread           1.926          0.832          3.821          0              270            0              48
  16  Lettuce         2.450          0.822          4.118          0              270            0              48
  17  Mug             2.100          0.759          3.969          0              270            0              48
  18  Apple           -0.714         0.866          1.181          0              90             0              104
  19  Pan             1.761          1.027          -1.599         0              0              0              90
  20  Glassbottle     -0.968         1.442          -0.516         0              90             0              91
  21  Knife           2.160          1.052          1.354          0              136.999        0              61
  22  SoapBottle      2.976          0.763          3.821          0              270            0              48
  23  Egg             -0.347         1.071          1.448          0              0              0              50
  24  Fork            2.790          1.027          -0.541         0              0              0              47
  25  Potato          -0.906         0.828          -0.516         0              90             0              91
  26  Ladle           1.409          1.066          -1.987         0              90             0              47
  27  Tomato          -0.906         0.839          -0.738         0              90             0              91
  28  Pot             2.177          1.027          -1.599         0              0              0              46
  29  WineBottle      1.925          0.765          4.044          0              270            0              48
  30  Plate           2.302          0.764          3.795          0              0              0              48
  31  Spatula         2.801          0.779          4.044          0              270            0              48
  32  PaperTowelRoll  -0.669         1.131          0.416          0              0              0              50
  33  Lettuce         -0.577         0.874          1.414          0              90             0              104
  34  Apple           2.126          1.077          1.601          0              136.999        0              47
  35  SaltShaker      2.621          1.023          -1.762         0              0              0              47
  36  PepperShaker    1.867          0.796          1.752          0              317.0          0              62
  37  ButterKnife     2.959          1.026          -0.236         0              0              0              47
  38  Bread           2.658          0.832          4.282          0              225            0              48
  39  Cup             2.404          1.025          1.303          0              136.999        0              47
  40  DishSponge      -0.851         0.816          1.492          0              90             0              104
  41  Bowl            2.302          0.762          4.32           0              0              0              48
  42  Spoon           2.707          0.802          -0.221         0              0              0              58
  43  Mug             -0.803         1.070          0.646          0              90             0              100
  44  Sink            -0.716         1.023          1.333          0              0              0
  45  StoveBurner     1.835          1.018          -1.840         0              90             0
  46  StoveBurner     2.177          1.018          -1.599         0              0              0
  47  CounterTop      2.812          0.992          0.675          0              0              0
  48  DiningTable     2.419          0.003          3.930          0              0              0
  49  Drawer          -0.643         0.828          0.616          0              0              0
  50  CounterTop      -0.813         1.062          2.188          0              0              0
  51  StoveBurner     2.115          1.018          -1.840         0              270            0
  52  Drawer          -0.643         0.831          1.953          0              0              0
  53  Drawer          -0.643         0.833          2.418          0              0              0
  54  Drawer          1.347          0.836          -1.539         0              0              0
  55  Drawer          2.693          0.833          -1.131         0              0              0
  56  Drawer          2.693          0.833          -0.699         0              0              0
  57  Drawer          2.693          0.833          -0.267         0              0              0
  58  Drawer          2.693          0.833          0.163          0              0              0
  59  Drawer          2.524          0.833          0.720          0              2.000          0
  60  Drawer          2.232          0.833          1.036          0              2.000          0
  61  Drawer          1.936          0.833          1.354          0              2.000          0
  62  Drawer          1.646          0.833          1.670          0              2.000          0
  63  Cabinet         1.504          2.475          -1.710         0              0              0
  64  Cabinet         -0.823         2.220          1.621          0              0              0
  65  Cabinet         -0.823         2.220          0.615          0              0              0
  66  Cabinet         1.136          0.388          -1.355         0              0              0
  67  Cabinet         -0.356         0.383          2.626          0              0              0
  68  Cabinet         2.745          2.220          -1.690         0              0              0
  69  Cabinet         1.882          0.383          1.017          0              0              0
  70  Cabinet         1.307          0.473          1.640          0              0              0
  71  Cabinet         1.892          0.383          1.006          0              0              0
  72  Cabinet         2.467          0.383          0.383          0              0              0
  73  Cabinet         2.466          0.383          -0.475         0              0              0
  74  Cabinet         2.466          0.473          0.371          0              0              0
  75  Cabinet         2.386          2.475          -1.710         0              0              0
  76  Cabinet         -0.356         0.383          1.712          0              0              0
  77  Cabinet         2.745          2.220          0.019          0              0              0
  78  Cabinet         -0.663         2.496          0.157          0              0              0
  79  Cabinet         -0.663         2.496          -0.868         0              0              0
  80  Cabinet         -0.356         0.383          0.269          0              0              0
  81  Cabinet         -0.823         2.220          1.603          0              0              0
  82  Cabinet         -0.662         2.234          0.586          0              0              0
  83  Cabinet         2.745          2.220          -0.843         0              0              0
  84  Cabinet         2.745          2.220          -0.827         0              0              0
  85  Cabinet         -0.823         2.220          2.608          0              0              0
  86  Cabinet         2.732          2.226          -1.709         0              0              0
  87  Cabinet         1.137          2.226          -1.709         0              0              0
  88  Cabinet         2.466          0.383          -0.491         0              0              0
  89  Cabinet         2.466          0.383          -1.339         0              0              0
  90  StoveBurner     1.761          1.018          -1.599         0              0              0
  91  Fridge          -0.908         0.0            -0.405         0              0              0
  92  HousePlant      2.517          1.016          1.822          0              0              0
  93  Microwave       1.939          1.745          -1.826         0              0              0
  94  StoveKnob       2.017          1.041          -1.514         0              180            180
  95  StoveKnob       1.934          1.041          -1.514         0              180            180
  96  StoveKnob       2.017          1.041          -1.589         0              180            180
  97  StoveKnob       1.934          1.041          -1.589         0              180            180
  98  Window          1.756          1.608          4.762          90             0              0
  99  HousePlant      2.171          1.004          2.091          0              0              0
 100  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 101  LightSwitch     -0.099         1.410          -2.066         0              0              0
 102  GarbageCan      -0.951         -0.029         2.826          0              0              0
 103  Toaster         -1.007         1.018          2.238          0              90             0
 104  SinkBasin       -0.714         0.805          1.348          0              90             0
 105  Chair           1.615          0.004          4.310          0              107.976        0
 106  Faucet          -1.120         1.013          1.334          0              90             0
 107  Chair           2.759          0.004          3.086          0              358.967        0
 108
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: walk straight and then turn right and walk straight towards the counter edge and turn left and walk straight towards the sink | STEP 2: pick up the sponge in the sink | STEP 3: turn left walk straight then turn left again and walk straight to the counter then turn right and walk straight towards the stove | STEP 4: put the sponge down inside the pan on the stove | STEP 5: remove the pan and the sponge off of the stove | STEP 6: turn right then turn right again and walk straight towards the wall and turn right and walk straight then turn left towards the table | STEP 7: put the pan and sponge down on the table | END