Task: Put a chilled baking pan in the cupboard under 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           0.900          2.5            0              90             0
   1  Potato          -1.151         0.862          0.055          0              0              0              42
   2  DishSponge      -0.860         0.709          0.445          0              0              0              45
   3  ButterKnife     -2.044         0.823          0.518          0              0              0              42
   4  Spoon           -0.363         0.698          0.912          0              90             0              44
   5  Spoon           -2.530         0.693          1.474          0              90             0              47
   6  Egg             -0.229         0.080          2.640          0              0              0              62
   7  Cup             -1.481         0.702          0.295          0              0              0              69
   8  Cup             -2.504         0.823          0.625          0              0              0              42
   9  SaltShaker      -2.813         0.818          0.789          0              0              0              42
  10  SaltShaker      -2.375         0.818          0.129          0              0              0              42
  11  PepperShaker    -2.044         0.818          0.046          0              0              0              42
  12  PepperShaker    -2.840         0.818          0.278          0              0              0              42
  13  Apple           -2.810         0.994          1.178          0              90             0              61
  14  Apple           -0.395         0.129          2.640          0              90             0              62
  15  Fork            -0.428         0.695          1.215          0              90             0              38
  16  Ladle           -0.371         0.738          0.879          0              45             0              44
  17  Pan             -0.244         0.829          1.684          0              0              0              41
  18  SoapBottle      -0.295         0.054          2.539          0              0              0              62
  19  Pot             -0.531         0.822          2.096          0              0              0              39
  20  Tomato          -2.669         1.181          2.373          0              0              0              60
  21  Potato          -2.877         0.960          1.284          0              270            0              61
  22  SaltShaker      -2.957         0.818          0.129          0              0              0              42
  23  Plate           -2.586         0.813          0.309          0              0              0              42
  24  Spatula         -0.984         0.838          0.500          0              0              0              42
  25  Knife           -2.662         0.819          0.557          90             300.034        0              42
  26  Egg             -1.412         0.721          0.338          0              0              0              69
  27  Cup             -2.777         0.921          1.390          0              90             0              61
  28  ButterKnife     -1.709         0.823          0.508          0              0              0              42
  29  Lettuce         -1.836         0.741          0.238          0              55.910         0              69
  30  PepperShaker    -0.114         0.812          1.083          0              0              0              42
  31  DishSponge      -2.631         0.691          1.547          0              0              0              47
  32  Bread           -0.979         0.855          0.249          0              29.999         0              42
  33  Spoon           -1.133         0.699          0.377          0              90             0              46
  34  Mug             -0.646         0.888          0.367          0              0              0              70
  35  Bowl            -0.397         0.115          0.914          0              0              0              58
  36  Cabinet         -2.377         2.015          1.720          0              0              0
  37  StoveBurner     -0.244         0.820          2.075          0              180            0
  38  Drawer          -0.402         0.703          1.252          0              0              0
  39  StoveBurner     -0.518         0.820          2.075          0              180            0
  40  Sink            -1.838         0.726          0.343          0              180            0
  41  StoveBurner     -0.244         0.820          1.684          0              0              0
  42  CounterTop      -1.557         0.859          0.277          0              0              0
  43  StoveBurner     -0.518         0.820          1.684          0              0              0
  44  Drawer          -0.404         0.704          0.912          0              0              0
  45  Drawer          -0.861         0.709          0.420          0              0              0
  46  Drawer          -1.133         0.706          0.418          0              0              0
  47  Drawer          -2.589         0.703          1.511          0              0              0
  48  Cabinet         -2.772         1.803          0.508          0              0              0
  49  Cabinet         -2.460         1.803          0.231          0              0              0
  50  Cabinet         -2.781         1.798          0.825          0              0              0
  51  Cabinet         -2.781         1.798          0.815          0              0              0
  52  Cabinet         -2.377         2.009          2.581          0              0              0
  53  Cabinet         -2.442         0.385          1.672          0              0              0
  54  Cabinet         -2.238         0.385          0.564          0              0              0
  55  Cabinet         -1.286         0.385          0.564          0              0              0
  56  Cabinet         -1.262         0.385          0.565          0              0              0
  57  Cabinet         -0.734         0.385          0.565          0              0              0
  58  Cabinet         -0.549         0.385          0.751          0              0              0
  59  Cabinet         -0.549         0.385          1.412          0              0              0
  60  Fridge          -2.782         0.0            2.221          0              0              0
  61  Microwave       -2.794         0.812          1.348          0              90             0
  62  GarbageCan      -0.329         2.205          2.606          0              0              0
  63  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  64  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  65  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  66  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  67  Window          -1.720         1.342          -0.208         90             0              0
  68  Toaster         -0.171         0.812          0.735          0              270            0
  69  SinkBasin       -1.745         0.687          0.295          0              0              0
  70  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  71  LightSwitch     -0.615         1.378          3.0            0              180            0
  72  Faucet          -1.686         0.954          0.176          0              236.223        0
  73  Stool           -1.008         0.008          1.955          0              18.279         0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Turn right and head to the sink | STEP 2: Pick up the baking pan from the counter on the right | STEP 3: Turn around and go to towards the wall then turn left at the fridge | STEP 4: Put the baking pan on a shelf in the fridge and wait a bit, then take the pan out of the fridge | STEP 5: Turn around and then turn right and head towards the sink | STEP 6: Put the baking pan in the cupboard under the sink | END