Task: drop a pan with spoon in 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           -0.25          0.869          -1.25          0              0              0
   1  DishSponge      -1.620         0.699          -3.698         0              0              0              68
   2  DishSponge      0.655          0.883          -0.108         0              0              0              41
   3  ButterKnife     0.950          0.883          0.098          0              0              0              41
   4  Spoon           0.720          0.761          -0.061         0              0              0              40
   5  Fork            0.769          0.761          0.002          0              270            0              40
   6  Egg             0.883          0.809          -0.515         0              270            0              64
   7  Cup             0.721          0.663          0.630          0              0              0              46
   8  Plate           0.732          0.019          -0.119         0              0              0              51
   9  Knife           0.623          0.782          0.002          0              270            0              40
  10  Knife           0.866          0.782          -0.188         0              90             0              40
  11  Tomato          -1.056         0.949          0.929          0              270            0              67
  12  SoapBottle      0.721          0.664          0.508          0              0              0              46
  13  Bread           0.149          0.944          0.843          0              270            0              67
  14  Lettuce         -1.260         0.138          -3.611         0              270            0              56
  15  Lettuce         0.721          0.752          0.326          0              0              0              46
  16  Mug             0.698          0.941          -1.360         0              270            0              54
  17  Apple           0.708          1.428          -2.035         0              270            0              61
  18  Apple           0.757          0.826          -0.680         0              270            0              64
  19  Pot             -2.071         0.927          0.772          0              266.284        0              43
  20  Plate           -2.023         0.692          -1.447         0              0              0              77
  21  Fork            0.769          0.760          -0.188         0              0              0              40
  22  SoapBottle      -1.056         0.899          0.758          0              270            0              67
  23  Apple           0.746          1.212          -2.035         0              270            0              61
  24  Pan             -1.555         0.930          1.049          0              0              0              50
  25  Egg             0.601          0.701          0.448          0              0              0              46
  26  Spatula         -1.535         0.715          -3.614         0              90             0              68
  27  Potato          0.883          0.805          -0.790         0              270            0              64
  28  Cup             0.601          0.664          0.569          0              0              0              46
  29  SaltShaker      -0.453         0.896          0.758          0              270            0              67
  30  PepperShaker    0.961          0.661          0.326          0              0              0              46
  31  ButterKnife     0.149          0.900          1.187          0              270            0              67
  32  DishSponge      0.841          0.772          -0.680         0              270            0              64
  33  Bread           -1.719         0.745          -1.416         0              0              0              77
  34  Lettuce         -1.056         0.987          1.187          0              270            0              67
  35  Tomato          0.669          1.207          -2.190         0              270            0              61
  36  Spoon           0.781          0.666          0.569          0              180            0              46
  37  Knife           0.817          0.783          -0.252         0              90             0              40
  38  Mug             0.901          0.660          0.448          0              0              0              46
  39  Bowl            0.858          1.462          -0.084         0              0              0              52
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: turn around and head for the bin | STEP 2: pick up the spoon | STEP 3: turn around and head for the gas | STEP 4: place the spoon on the pan | STEP 5: pick up the pan | STEP 6: turn around and head for the table | STEP 7: drop the pan on the table | END