Task: put the sauce pan with a spoon in it in the lower right kitchen cabinet

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          2.75           0              0              0
   1  Potato          2.643          0.806          4.081          0              329.999        0              51
   2  Potato          1.848          1.068          1.900          0              136.999        0              50
   3  DishSponge      2.976          0.764          3.895          0              270            0              51
   4  ButterKnife     2.875          1.026          -0.541         0              0              0              50
   5  Spatula         2.874          0.816          -0.313         0              90             0              60
   6  Fork            -0.418         1.028          1.821          0              0              0              53
   7  Egg             -0.997         0.121          2.842          0              0              0              105
   8  Cup             2.599          0.763          3.445          0              0              0              51
   9  Knife           2.671          0.789          3.885          0              329.999        0              51
  10  Knife           1.925          0.789          4.044          0              270            0              51
  11  Tomato          -0.920         1.081          2.556          0              0              0              53
  12  SoapBottle      -0.794         1.026          0.323          0              0              0              53
  13  SoapBottle      -1.187         1.026          1.612          0              0              0              53
  14  Bowl            -0.714         0.814          1.181          0              90             0              107
  15  PepperShaker    2.761          0.796          -0.792         0              0              0              59
  16  Bread           2.346          0.832          4.074          0              225            0              51
  17  Bread           2.239          0.832          4.484          0              329.999        0              51
  18  Lettuce         2.441          0.822          3.540          0              329.999        0              51
  19  Mug             2.106          1.856          -1.876         0              0              0              96
  20  Mug             -0.577         0.811          1.570          0              270            0              107
  21  Apple           -1.102         1.077          1.243          0              0              0              53
  22  Pan             1.836          1.027          -1.84          0              90             0              48
  23  Glassbottle     -0.418         1.028          0.600          0              0              0              53
  24  Knife           2.175          0.789          4.447          0              329.999        0              51
  25  SoapBottle      2.503          0.763          3.917          0              225            0              51
  26  Egg             2.276          0.808          3.747          0              270            0              51
  27  Fork            -1.045         1.028          1.821          0              180            0              53
  28  Potato          -1.102         1.069          1.058          0              0              0              53
  29  Ladle           2.439          1.066          1.056          0              136.999        0              50
  30  Tomato          -0.877         1.495          -0.405         0              90             0              94
  31  Pot             2.116          1.027          -1.84          0              270            0              54
  32  WineBottle      -0.794         1.028          2.556          0              0              0              53
  33  Plate           -0.987         0.786          -0.627         0              90             0              94
  34  Spatula         1.819          0.816          1.308          0              227.0          0              64
  35  PaperTowelRoll  2.451          0.868          3.747          0              270            0              51
  36  Lettuce         -0.418         1.085          2.066          0              0              0              53
  37  Apple           -0.922         1.492          -0.073         0              90             0              94
  38  SaltShaker      -0.519         0.797          2.007          0              0              0              55
  39  PepperShaker    2.101          0.760          3.747          0              270            0              51
  40  ButterKnife     2.525          0.764          4.32           0              0              0              51
  41  Bread           2.875          1.094          -1.151         0              0              0              50
  42  Cup             1.926          0.763          3.747          0              270            0              51
  43  DishSponge      2.469          0.800          0.606          0              317.0          0              62
  44  Bowl            -0.782         0.814          1.492          0              90             0              107
  45  Spoon           2.695          0.802          0.754          0              47.0           0              62
  46  Mug             -0.987         0.781          -0.406         0              0              0              94
  47  Sink            -0.716         1.023          1.333          0              0              0
  48  StoveBurner     1.835          1.018          -1.840         0              90             0
  49  StoveBurner     2.177          1.018          -1.599         0              0              0
  50  CounterTop      2.812          0.992          0.675          0              0              0
  51  DiningTable     2.419          0.003          3.930          0              0              0
  52  Drawer          -0.643         0.828          0.616          0              0              0
  53  CounterTop      -0.813         1.062          2.188          0              0              0
  54  StoveBurner     2.115          1.018          -1.840         0              270            0
  55  Drawer          -0.643         0.831          1.953          0              0              0
  56  Drawer          -0.643         0.833          2.418          0              0              0
  57  Drawer          1.347          0.836          -1.539         0              0              0
  58  Drawer          2.693          0.833          -1.131         0              0              0
  59  Drawer          2.693          0.833          -0.699         0              0              0
  60  Drawer          2.693          0.833          -0.267         0              0              0
  61  Drawer          2.693          0.833          0.163          0              0              0
  62  Drawer          2.524          0.833          0.720          0              2.000          0
  63  Drawer          2.232          0.833          1.036          0              2.000          0
  64  Drawer          1.936          0.833          1.354          0              2.000          0
  65  Drawer          1.646          0.833          1.670          0              2.000          0
  66  Cabinet         1.504          2.475          -1.710         0              0              0
  67  Cabinet         -0.823         2.220          1.621          0              0              0
  68  Cabinet         -0.823         2.220          0.615          0              0              0
  69  Cabinet         1.136          0.388          -1.355         0              0              0
  70  Cabinet         -0.356         0.383          2.626          0              0              0
  71  Cabinet         2.745          2.220          -1.690         0              0              0
  72  Cabinet         1.882          0.383          1.017          0              0              0
  73  Cabinet         1.307          0.473          1.640          0              0              0
  74  Cabinet         1.892          0.383          1.006          0              0              0
  75  Cabinet         2.467          0.383          0.383          0              0              0
  76  Cabinet         2.466          0.383          -0.475         0              0              0
  77  Cabinet         2.466          0.473          0.371          0              0              0
  78  Cabinet         2.386          2.475          -1.710         0              0              0
  79  Cabinet         -0.356         0.383          1.712          0              0              0
  80  Cabinet         2.745          2.220          0.019          0              0              0
  81  Cabinet         -0.663         2.496          0.157          0              0              0
  82  Cabinet         -0.663         2.496          -0.868         0              0              0
  83  Cabinet         -0.356         0.383          0.269          0              0              0
  84  Cabinet         -0.823         2.220          1.603          0              0              0
  85  Cabinet         -0.662         2.234          0.586          0              0              0
  86  Cabinet         2.745          2.220          -0.843         0              0              0
  87  Cabinet         2.745          2.220          -0.827         0              0              0
  88  Cabinet         -0.823         2.220          2.608          0              0              0
  89  Cabinet         2.732          2.226          -1.709         0              0              0
  90  Cabinet         1.137          2.226          -1.709         0              0              0
  91  Cabinet         2.466          0.383          -0.491         0              0              0
  92  Cabinet         2.466          0.383          -1.339         0              0              0
  93  StoveBurner     1.761          1.018          -1.599         0              0              0
  94  Fridge          -0.908         0.0            -0.405         0              0              0
  95  HousePlant      2.517          1.016          1.822          0              0              0
  96  Microwave       1.939          1.745          -1.826         0              0              0
  97  StoveKnob       2.017          1.041          -1.514         0              180            180
  98  StoveKnob       1.934          1.041          -1.514         0              180            180
  99  StoveKnob       2.017          1.041          -1.589         0              180            180
 100  StoveKnob       1.934          1.041          -1.589         0              180            180
 101  Window          1.756          1.608          4.762          90             0              0
 102  HousePlant      2.171          1.004          2.091          0              0              0
 103  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 104  LightSwitch     -0.099         1.410          -2.066         0              0              0
 105  GarbageCan      -0.951         -0.029         2.826          0              0              0
 106  Toaster         -1.007         1.018          2.238          0              90             0
 107  SinkBasin       -0.714         0.805          1.348          0              90             0
 108  Chair           1.615          0.004          4.310          0              107.976        0
 109  Faucet          -1.120         1.013          1.334          0              90             0
 110  Chair           2.759          0.004          3.086          0              358.967        0
 111
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: turn around and walk to the left side of the kitchen counter. | STEP 2: grab the spoon on the counter. | STEP 3: turn around and walk to the stove | STEP 4: place the spoon in the sauce pan | STEP 5: pick up the sauce pan | STEP 6: turn to face the left side of the lower kitchen cabinets | STEP 7: put the sauce pan in the far right lower cabinet | END