Task: Put the fork in the pan, put the pan 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           -2.0           0.899          5.5            0              0              0
   1  Pan             -2.469         0.930          1.712          0              270            0              89
   2  Pencil          -3.568         0.745          5.192          0              90             0              65
   3  DishSponge      -0.104         0.924          5.932          0              0              0              59
   4  Pot             -2.924         0.930          1.712          0              180            0              71
   5  Fork            -1.860         0.924          1.875          0              0              0              56
   6  Fork            -1.693         0.924          1.648          0              180            0              56
   7  Fork            -4.242         0.924          2.183          0              0              0              74
   8  Spoon           -4.312         0.924          2.416          0              0              0              74
   9  Cup             -2.026         0.922          1.724          0              0              0              56
  10  Cup             -0.259         1.684          3.733          0              270            0              107
  11  Egg             -0.508         1.106          3.850          0              270            0              107
  12  Plate           -0.334         0.925          5.273          0              0              0              59
  13  Plate           -0.181         0.925          4.944          0              0              0              59
  14  SoapBottle      -2.026         0.923          1.875          0              0              0              56
  15  Tomato          -0.104         0.982          5.273          0              0              0              59
  16  Bowl            -4.335         0.920          5.418          0              90             0              74
  17  Bowl            -3.852         0.920          5.489          0              90             0              74
  18  PepperShaker    -0.334         0.921          4.944          0              0              0              64
  19  Lettuce         -4.031         1.018          1.875          0              0              0              74
  20  Lettuce         -3.712         0.164          6.375          0              270            0              100
  21  Bread           -1.777         1.003          1.8            0              0              0              56
  22  Mug             -0.218         1.330          3.974          0              270            0              107
  23  Mug             -0.409         0.955          6.557          0              270            0              95
  24  Egg             -0.565         0.960          5.603          0              0              0              59
  25  Apple           -0.218         1.634          3.168          0              270            0              107
  26  Knife           -1.693         0.953          1.875          0              90             0              56
  27  Potato          -0.181         0.958          5.603          0              0              0              59
  28  Fork            -1.860         0.924          1.724          0              0              0              56
  29  Bowl            -0.301         1.332          3.231          0              270            0              107
  30  Plate           -4.097         0.081          3.465          0              0              0              79
  31  Lettuce         -0.301         1.676          3.349          0              270            0              107
  32  Bread           -0.348         1.150          3.479          0              270            0              107
  33  Tomato          -0.348         1.127          3.726          0              270            0              107
  34  WineBottle      -1.610         0.924          1.724          0              0              0              56
  35  Spatula         -4.451         0.938          2.649          0              90             0              74
  36  PaperTowelRoll  -4.381         1.027          2.300          0              0              0              74
  37  Cup             -2.530         1.545          1.666          0              0              0              104
  38  Pencil          -2.093         0.747          1.956          0              0              0              72
  39  Pan             -3.475         0.082          1.927          0              270            0              49
  40  Pot             -2.924         0.930          2.012          0              0              0              57
  41  SaltShaker      -1.860         0.743          1.985          0              0              0              72
  42  SoapBottle      -3.127         1.459          5.512          0              90             0              60
  43  PepperShaker    -3.859         0.741          5.133          0              180            0              77
  44  ButterKnife     -1.943         0.923          2.026          0              180            0              56
  45  DishSponge      -0.411         0.924          5.603          0              0              0              59
  46  Spoon           -0.488         0.926          4.615          0              0              0              59
  47  Mug             -0.342         1.680          3.915          0              270            0              107
  48  Cabinet         -3.203         1.931          1.777          0              0              0
  49  Cabinet         -3.187         0.390          2.089          0              0              0
  50  Cabinet         -0.637         0.387          6.882          0              180            0
  51  Drawer          -3.797         0.781          1.961          0              0              0
  52  Cabinet         -3.036         0.387          5.029          0              90             0
  53  Drawer          -0.509         0.775          5.268          0              270            0
  54  Drawer          -4.125         0.798          2.499          0              0              0
  55  Cabinet         -0.331         2.249          4.308          0              180            0
  56  CounterTop      -1.872         0.958          1.799          0              0              0
  57  StoveBurner     -2.924         0.924          2.012          0              0              0
  58  Cabinet         -0.331         2.249          6.806          0              180            0
  59  CounterTop      -0.345         0.960          5.603          0              0              0
  60  Cabinet         -3.039         1.935          5.321          0              90             0
  61  Cabinet         -3.922         0.397          2.088          0              0              0
  62  StoveBurner     -2.467         0.924          2.012          0              0              0
  63  Cabinet         -0.331         2.249          5.505          0              180            0
  64  Drawer          -0.509         0.775          4.617          0              270            0
  65  Drawer          -3.509         0.777          5.157          0              180            0
  66  Cabinet         -3.961         0.388          2.878          0              0              0
  67  Cabinet         -3.961         0.388          4.342          0              0              0
  68  Cabinet         -0.637         0.387          5.582          0              180            0
  69  Cabinet         -0.637         0.388          4.299          0              180            0
  70  Cabinet         -0.637         0.388          5.599          0              180            0
  71  StoveBurner     -2.924         0.924          1.712          0              180            0
  72  Drawer          -1.859         0.775          1.961          0              0              0
  73  Cabinet         -0.331         2.249          5.609          0              180            0
  74  CounterTop      -4.260         0.958          4.943          0              90             0
  75  Cabinet         -4.284         1.931          2.226          0              0              0
  76  Cabinet         -0.331         2.249          3.010          0              180            0
  77  Drawer          -3.801         0.777          5.157          0              180            0
  78  Cabinet         -4.112         1.935          5.321          0              90             0
  79  Cabinet         -3.968         0.388          3.662          0              0              0
  80  Drawer          -3.418         0.777          1.961          0              0              0
  81  Drawer          -4.090         0.777          4.661          0              90             0
  82  Faucet          -4.441         0.909          3.288          270            0              0
  83  Cabinet         -0.331         2.249          4.207          0              180            0
  84  Cabinet         -3.961         0.388          2.119          0              0              0
  85  Drawer          -0.509         0.775          5.920          0              270            0
  86  Drawer          -3.193         0.777          5.157          0              180            0
  87  Cabinet         -3.968         0.388          2.894          0              0              0
  88  Cabinet         -3.667         0.387          5.029          0              90             0
  89  StoveBurner     -2.469         0.924          1.712          0              270            0
  90  Cabinet         -1.539         0.388          2.090          0              0              0
  91  Sink            -4.190         0.921          3.279          0              0              0
  92  Cabinet         -3.641         0.387          5.029          0              90             0
  93  Cabinet         -1.583         1.931          1.777          0              0              0
  94  Drawer          -0.509         0.775          6.568          0              270            0
  95  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  96  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  98  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  99  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 100  GarbageCan      -3.711         -0.030         6.376          0              270            0
 101  Toaster         -3.578         0.912          1.763          0              0              0
 102  Curtains        -4.522         2.252          3.391          90             90             0
 103  Window          -4.868         1.629          3.309          90             270            0
 104  Microwave       -2.693         1.430          1.689          0              0              0
 105  LightSwitch     -1.588         1.169          1.506          0              0              0
 106  SinkBasin       -4.196         0.780          3.276          0              270            0
 107  Fridge          -0.324         -0.001         3.602          0              0              0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Turn around head across the kitchen | STEP 2: Take the fork from the counter | STEP 3: Turn to the left, open the cabinet door under the toaster | STEP 4: Put the fork in the pan in the cabinet | STEP 5: Take the pan out of the cabinet | STEP 6: Turn around, head to the sink | STEP 7: Put the pan in the sink | END