Task: Put a clean pan in the 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           0.5            0.900          -1.25          0              180            0
   1  Pan             -0.036         0.950          -2.576         0              270            0              63
   2  Statue          -0.197         1.110          -0.759         0              0              0              60
   3  Statue          -0.995         0.910          -2.560         0              90             0              85
   4  Vase            -1.457         1.656          -2.604         0              0              0              76
   5  Potato          -0.225         1.820          -2.578         0              0              0              86
   6  Potato          -1.997         0.570          1.085          0              90             0              93
   7  Plate           -2.114         1.302          1.176          0              90             0              93
   8  Cup             -0.816         0.134          -2.301         0              0              0              78
   9  Cup             1.582          0.550          -2.614         0              180            0              90
  10  PepperShaker    0.506          0.136          -2.288         0              0              0              77
  11  PepperShaker    1.065          0.477          -2.282         0              0              0              68
  12  Knife           -1.438         0.936          -2.560         0              0              0              85
  13  Fork            -0.335         1.112          0.504          0              0              0              60
  14  Spoon           -0.473         1.112          0.757          0              0              0              60
  15  Spoon           0.969          0.911          -2.330         0              0              0              62
  16  Mug             0.355          1.106          -0.253         0              0              0              60
  17  Spatula         -1.654         0.808          -0.054         0              0              0              59
  18  Spatula         0.893          0.791          -2.463         0              90             0              56
  19  ButterKnife     0.582          0.910          -2.560         0              0              0              62
  20  ButterKnife     -1.856         0.911          -2.146         0              0              0              85
  21  Kettle          0.563          0.141          -2.436         0              0              0              77
  22  Glassbottle     -1.935         0.048          1.933          0              270            0              91
  23  DishSponge      2.100          0.552          -2.614         0              180            0              90
  24  DishSponge      -0.840         1.655          -2.676         0              0              0              74
  25  Book            -0.197         1.110          -0.253         0              270            0              60
  26  Glassbottle     -1.999         0.227          1.251          0              90             0              93
  27  Knife           0.079          1.136          -0.001         0              0              0              60
  28  Bread           0.079          1.184          0.757          0              0              0              60
  29  Fork            -0.335         1.112          0.251          0              0              0              60
  30  Potato          -1.880         0.078          2.172          0              270            0              91
  31  SoapBottle      -1.665         0.130          0.248          0              90             0              66
  32  Kettle          -0.465         0.950          -2.372         0              90             0              58
  33  Pan             0.721          0.9            -2.415         0              0              0              62
  34  Plate           0.217          1.108          -0.506         0              0              0              60
  35  Tomato          -2.100         0.950          -2.146         0              0              0              85
  36  Vase            0.341          1.662          -2.596         0              0              0              84
  37  Egg             -1.935         0.083          2.076          0              270            0              91
  38  CreditCard      -0.473         1.108          -0.759         0              0              0              60
  39  Statue          -2.100         0.910          -0.513         0              90             0              85
  40  WineBottle      -1.655         0.137          -1.389         0              90             0              61
  41  Pot             -2.078         0.802          1.003          0              90             0              93
  42  Spatula         -0.059         1.126          -0.001         0              0              0              60
  43  PaperTowelRoll  -0.197         1.215          0.504          0              90             0              60
  44  Cup             1.582          0.550          -2.511         0              180            0              90
  45  Vase            0.217          1.109          0.251          0              0              0              60
  46  Bowl            0.355          1.108          -0.001         0              0              0              60
  47  SaltShaker      2.096          0.877          -2.536         0              180            0              87
  48  PepperShaker    1.891          0.877          -2.617         0              180            0              87
  49  Lettuce         0.453          0.990          -2.407         0              0              0              62
  50  ButterKnife     0.949          0.646          -2.375         0              0              0              65
  51  Apple           -1.438         0.961          -2.329         0              0              0              85
  52  DishSponge      -1.715         0.129          0.158          0              90             0              66
  53  Spoon           0.969          0.911          -2.560         0              0              0              62
  54  Mug             -1.733         0.906          -2.253         0              0              0              85
  55  StoveBurner     -0.036         0.915          -2.372         0              0              0
  56  Drawer          0.949          0.832          -2.197         0              0              0
  57  Drawer          -1.560         0.839          0.204          0              90             0
  58  StoveBurner     -0.465         0.915          -2.371         0              180            0
  59  Drawer          -1.560         0.839          -0.197         0              90             0
  60  CounterTop      -0.079         1.147          -0.001         0              0              0
  61  Cabinet         -1.549         0.494          -1.964         0              90             0
  62  CounterTop      0.693          0.946          -2.483         0              0              0
  63  StoveBurner     -0.036         0.915          -2.576         0              0              0
  64  Drawer          0.949          0.393          -2.200         0              0              0
  65  Drawer          0.949          0.708          -2.200         0              0              0
  66  Cabinet         -1.549         0.494          0.379          0              90             0
  67  StoveKnob       -0.022         0.881          -2.187         45             0              0
  68  Drawer          0.949          0.560          -2.201         0              0              0
  69  StoveBurner     -0.465         0.915          -2.575         0              180            0
  70  Window          -2.230         1.429          -1.203         0              0              0
  71  StoveKnob       -0.483         0.881          -2.187         45             0              0
  72  Sink            -1.899         0.964          -1.5           0              90             0
  73  StoveKnob       -0.328         0.881          -2.187         45             0              0
  74  Cabinet         -0.727         2.015          -2.460         0              0              0
  75  Drawer          -1.560         0.655          -0.196         0              90             0
  76  Cabinet         -1.685         2.015          -2.461         0              0              0
  77  Cabinet         0.680          0.494          -2.200         0              0              0
  78  Cabinet         -1.179         0.494          -2.200         0              0              0
  79  Cabinet         -1.849         2.015          0.379          0              90             0
  80  Drawer          0.949          0.221          -2.200         0              0              0
  81  StoveKnob       -0.183         0.881          -2.187         45             0              0
  82  Cabinet         0.719          2.015          -2.460         0              0              0
  83  Drawer          -1.560         0.331          -0.196         0              90             0
  84  Cabinet         0.680          2.015          -2.460         0              0              0
  85  CounterTop      -1.868         0.946          -1.205         0              0              0
  86  Microwave       -0.236         1.689          -2.525         0              0              0
  87  Shelf           1.751          0.880          -2.560         0              0              0
  88  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  89  Toaster         -1.835         0.900          0.134          0              90             0
  90  Shelf           1.750          0.552          -2.559         0              0              0
  91  GarbageCan      -1.935         -0.002         2.029          0              270            0
  92  Shelf           1.750          0.172          -2.559         0              0              0
  93  Fridge          -2.096         0.0            1.088          0              0              0
  94  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  95  SinkBasin       -1.908         0.759          -1.488         0              90             0
  96  LightSwitch     2.329          1.309          -0.159         0              270            0
  97  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  98  Stool           0.702          0.000          -0.514         1.202          65.108         0
  99  Stool           0.743          0.000          0.563          1.227          106.706        0
 100  Faucet          -2.070         1.132          -1.514         0              0              0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Go to the stove | STEP 2: Pick up the dirty pan | STEP 3: Go to the sink | STEP 4: Wash the pan | STEP 5: Go to the cabinet to the right of the stove | STEP 6: Put the pan in the cabinet | END