Task: put a pan into the fridge and then back onto the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          2.25           0              180            0
   1  Pan             -1.961         0.911          -1.591         0              0              0              52
   2  Vase            0.617          0.913          -1.369         0              0              0              52
   3  Potato          -2.152         0.915          3.073          0              270            0              54
   4  Potato          1.104          1.798          -1.663         0              0              0              76
   5  Book            -2.321         0.875          3.147          0              270            0              54
   6  WineBottle      3.634          0.881          1.861          0              270            0              73
   7  WineBottle      1.651          0.911          -1.437         0              0              0              72
   8  Pot             1.328          0.957          -1.688         0              180            0              55
   9  Spoon           1.760          0.911          -1.709         0              90             0              72
  10  Spoon           0.069          0.931          -1.718         0              270            0              49
  11  Egg             -0.263         0.414          2.054          0              180            0              77
  12  Plate           -0.035         1.576          2.040          0              180            0              77
  13  Plate           -1.738         0.916          -0.614         0              0              0              52
  14  Knife           0.234          0.950          -1.573         0              270            0              49
  15  Knife           -3.122         0.896          2.968          0              225            0              54
  16  SoapBottle      1.616          0.115          -1.450         0              0              0              58
  17  Tomato          -2.525         0.925          2.878          0              135            0              54
  18  PepperShaker    0.482          0.714          -1.376         0              0              0              69
  19  Bread           -2.353         0.958          3.632          0              225            0              54
  20  Book            -1.649         0.714          -0.788         0              90             0              67
  21  Fork            -1.748         0.720          -1.001         0              270            0              67
  22  Tomato          -2.807         0.922          3.559          0              0              0              54
  23  Egg             -0.035         1.169          2.167          0              180            0              77
  24  Kettle          -1.686         0.120          -1.066         0              0              0              57
  25  Vase            -1.849         0.913          -0.288         0              0              0              52
  26  Cup             0.307          1.570          1.921          0              180            0              77
  27  WineBottle      -0.818         0.193          2.174          0              90             0              82
  28  Plate           -2.996         0.882          3.221          0              270            0              54
  29  Spatula         -0.833         0.927          -1.572         0              0              0              52
  30  Potato          1.316          1.798          -1.663         0              0              0              76
  31  Pot             0.974          0.957          -1.688         0              180            0              51
  32  Knife           -1.738         0.934          -1.265         0              0              0              67
  33  SaltShaker      0.633          0.112          -1.408         0              0              0              59
  34  PepperShaker    0.638          0.714          -1.476         0              0              0              69
  35  Lettuce         -1.654         0.965          -1.051         0              117.902        0              52
  36  ButterKnife     0.014          0.928          -1.573         0              270            0              49
  37  Bread           -0.263         1.655          2.160          0              180            0              77
  38  Vase            -0.888         1.655          -1.750         0              0              0              64
  39  DishSponge      -2.183         0.911          -1.591         0              0              0              71
  40  Apple           -0.330         0.762          -1.573         0              270            0              81
  41  Pan             0.972          0.959          -1.426         0              0              0              70
  42  Spoon           0.571          0.913          -1.674         0              0              0              52
  43  SoapBottle      -2.315         0.875          3.355          0              225            0              54
  44  Mug             0.014          0.923          -1.429         0              270            0              49
  45  Statue          3.676          0.168          1.410          0              334.521        0              75
  46  Statue          3.586          0.551          1.553          0              90             0              75
  47  Bowl            0.193          1.570          2.100          0              180            0              77
  48  Cabinet         -2.171         2.009          -1.538         0              0              0
  49  Sink            0.024          0.771          -1.708         0              270            0
  50  Cabinet         1.444          2.259          -1.542         0              0              0
  51  StoveBurner     0.974          0.957          -1.688         0              180            0
  52  CounterTop      -1.866         0.947          -0.614         0              0              0
  53  Cabinet         -2.217         0.373          -1.874         0              0              0
  54  DiningTable     -2.663         0.002          3.208          0              0              0
  55  StoveBurner     1.328          0.957          -1.688         0              180            0
  56  StoveBurner     1.328          0.957          -1.420         0              180            0
  57  Cabinet         -1.478         0.373          -1.235         0              0              0
  58  Cabinet         1.775          0.372          -1.242         0              0              0
  59  Cabinet         0.774          0.372          -1.242         0              0              0
  60  Cabinet         0.375          0.372          -1.242         0              0              0
  61  Cabinet         -0.574         0.372          -1.238         0              0              0
  62  Cabinet         1.775          2.009          -1.542         0              0              0
  63  Cabinet         0.524          2.009          -1.542         0              0              0
  64  Cabinet         -0.714         2.009          -1.542         0              0              0
  65  Cabinet         -1.671         2.009          -1.538         0              0              0
  66  Cabinet         0.854          2.259          -1.542         0              0              0
  67  Drawer          -1.636         0.683          -0.930         0              0              0
  68  Drawer          1.650          0.682          -1.396         0              0              0
  69  Drawer          0.600          0.682          -1.396         0              0              0
  70  StoveBurner     0.974          0.957          -1.419         0              180            0
  71  Drawer          -2.062         0.683          -1.579         0              0              0
  72  CounterTop      1.645          0.945          -1.527         0              0              0
  73  Shelf           3.725          0.880          1.671          0              90             0
  74  LightSwitch     2.830          1.266          -0.748         0              0              0
  75  Shelf           3.726          0.552          1.671          0              90             0
  76  Microwave       1.150          1.655          -1.614         0              0              0
  77  Fridge          -0.035         0.0            2.177          0              180            0
  78  Window          -0.115         1.802          -1.896         90             0              0
  79  Window          -4.009         1.799          0.310          90             90             0
  80  Shelf           3.726          0.172          1.671          0              90             0
  81  SinkBasin       -0.330         0.686          -1.581         0              270            0
  82  GarbageCan      -0.870         -0.001         2.136          0              90             0
  83  StoveKnob       1.089          0.913          -1.243         45             0              0
  84  StoveKnob       1.208          0.913          -1.243         45             0              0
  85  StoveKnob       1.340          0.913          -1.243         45             0              0
  86  StoveKnob       0.961          0.913          -1.243         45             0              0
  87  Toaster         1.637          0.900          -1.673         0              0              0
  88  Chair           -3.505         0.002          3.290          0              105.736        0
  89  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  90  HousePlant      -2.663         0.835          3.209          0              0              0
  91  Faucet          -0.187         0.922          -1.75          0              311.166        0
  92  ShelvingUnit    3.726          0.006          1.671          0              90             0
  93  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  94  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  95  Chair           -2.934         0.002          2.437          0              28.531         0
  96  Chair           -1.698         0.002          3.235          0              245.204        0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: walk straight then turn right towards the wall and walk straight then turn left and walk towards the door and turn left again | STEP 2: pick up the pan off of the counter  | STEP 3: turn around and walk straight then turn right and walk straight towards the chair and turn right and walk straight towards the fridge and turn left | STEP 4: open the fridge and put the pan inside of it and close the door then open the door and remove the pan and close the door | STEP 5: turn left and walk towards the wall and turn left and walk straight towards the door and turn left towards the counter | STEP 6: put the pan down on the counter | END