Task: Place a washed pan inside a cabinet

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          1.25           0              180            0
   1  Statue          -0.335         1.110          0.251          0              90             0              61
   2  Statue          -2.100         0.910          -0.513         0              90             0              86
   3  Potato          -2.204         0.257          1.334          0              180            0              94
   4  CreditCard      0.453          0.907          -2.714         0              0              0              63
   5  CreditCard      1.582          0.550          -2.614         0              180            0              91
   6  Plate           -1.438         0.908          -2.560         0              0              0              86
   7  Egg             0.217          1.146          0.251          0              0              0              61
   8  Egg             -0.059         1.146          0.757          0              0              0              61
   9  Tomato          -1.999         0.265          0.837          0              90             0              94
  10  SoapBottle      -1.694         0.479          -0.148         0              90             0              76
  11  SoapBottle      -1.290         0.912          -2.713         0              0              0              86
  12  SaltShaker      0.217          1.107          -0.001         0              0              0              61
  13  Bread           -2.081         1.575          0.925          0              90             0              94
  14  Bread           -0.335         1.184          -0.506         0              0              0              61
  15  Apple           -2.078         0.849          1.168          0              90             0              94
  16  Apple           -1.774         0.961          -2.146         0              0              0              86
  17  Knife           -0.059         1.136          -0.253         0              0              0              61
  18  Spoon           0.840          0.911          -2.637         0              0              0              63
  19  Spoon           0.892          0.646          -2.417         0              0              0              66
  20  Mug             -0.335         1.106          0.504          0              0              0              61
  21  Spatula         0.453          0.925          -2.637         0              90             0              63
  22  ButterKnife     -0.335         1.111          -0.253         0              0              0              61
  23  WineBottle      0.969          0.911          -2.253         0              0              0              63
  24  DishSponge      -1.611         0.910          -0.884         0              0              0              86
  25  DishSponge      -0.197         1.111          -0.759         0              0              0              61
  26  Book            0.155          1.1            0.617          0              315            0              61
  27  Glassbottle     1.478          0.553          -2.614         0              180            0              91
  28  Knife           -1.290         0.936          -2.253         0              0              0              86
  29  Bread           -2.081         1.575          1.176          0              90             0              94
  30  Fork            -1.781         0.478          -0.196         0              270            0              76
  31  Potato          0.079          1.142          -0.759         0              0              0              61
  32  SoapBottle      1.478          0.554          -2.718         0              180            0              91
  33  Kettle          -0.465         0.950          -2.576         0              90             0              70
  34  Pan             0.721          0.9            -2.415         0              0              0              63
  35  Plate           -1.143         0.908          -2.637         0              0              0              86
  36  Tomato          1.098          0.949          -2.330         0              0              0              63
  37  Vase            -0.473         1.113          0.757          0              0              0              61
  38  Egg             -1.880         0.083          1.885          0              270            0              92
  39  CreditCard      0.079          1.108          0.251          0              0              0              61
  40  Statue          1.955          0.168          -2.543         0              0              0              93
  41  WineBottle      -1.935         0.048          2.124          0              270            0              92
  42  Pot             -0.036         0.950          -2.576         0              270            0              64
  43  Spatula         0.079          1.126          -0.001         0              0              0              61
  44  PaperTowelRoll  0.217          1.215          -0.506         0              0              0              61
  45  Cup             -1.982         1.303          1.260          0              90             0              94
  46  Vase            -0.197         1.109          0.504          0              0              0              61
  47  Bowl            -2.026         1.302          1.092          0              90             0              94
  48  SaltShaker      1.893          0.549          -2.511         0              180            0              91
  49  PepperShaker    0.840          0.907          -2.714         0              0              0              63
  50  Lettuce         -1.806         0.973          -0.942         0              256.771        0              86
  51  ButterKnife     -0.335         1.111          -0.001         0              0              0              61
  52  Apple           -0.277         1.841          -2.514         0              0              0              87
  53  DishSponge      -1.962         0.047          1.981          0              270            0              92
  54  Spoon           -1.784         0.795          -0.302         0              90             0              60
  55  Mug             -2.158         1.301          1.260          0              90             0              94
  56  StoveBurner     -0.036         0.915          -2.372         0              0              0
  57  Drawer          0.949          0.832          -2.197         0              0              0
  58  Drawer          -1.560         0.839          0.204          0              90             0
  59  StoveBurner     -0.465         0.915          -2.371         0              180            0
  60  Drawer          -1.560         0.839          -0.197         0              90             0
  61  CounterTop      -0.079         1.147          -0.001         0              0              0
  62  Cabinet         -1.549         0.494          -1.964         0              90             0
  63  CounterTop      0.693          0.946          -2.483         0              0              0
  64  StoveBurner     -0.036         0.915          -2.576         0              0              0
  65  Drawer          0.949          0.393          -2.200         0              0              0
  66  Drawer          0.949          0.708          -2.200         0              0              0
  67  Cabinet         -1.549         0.494          0.379          0              90             0
  68  StoveKnob       -0.022         0.881          -2.187         45             0              0
  69  Drawer          0.949          0.560          -2.201         0              0              0
  70  StoveBurner     -0.465         0.915          -2.575         0              180            0
  71  Window          -2.230         1.429          -1.203         0              0              0
  72  StoveKnob       -0.483         0.881          -2.187         45             0              0
  73  Sink            -1.899         0.964          -1.5           0              90             0
  74  StoveKnob       -0.328         0.881          -2.187         45             0              0
  75  Cabinet         -0.727         2.015          -2.460         0              0              0
  76  Drawer          -1.560         0.655          -0.196         0              90             0
  77  Cabinet         -1.685         2.015          -2.461         0              0              0
  78  Cabinet         0.680          0.494          -2.200         0              0              0
  79  Cabinet         -1.179         0.494          -2.200         0              0              0
  80  Cabinet         -1.849         2.015          0.379          0              90             0
  81  Drawer          0.949          0.221          -2.200         0              0              0
  82  StoveKnob       -0.183         0.881          -2.187         45             0              0
  83  Cabinet         0.719          2.015          -2.460         0              0              0
  84  Drawer          -1.560         0.331          -0.196         0              90             0
  85  Cabinet         0.680          2.015          -2.460         0              0              0
  86  CounterTop      -1.868         0.946          -1.205         0              0              0
  87  Microwave       -0.236         1.689          -2.525         0              0              0
  88  Shelf           1.751          0.880          -2.560         0              0              0
  89  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  90  Toaster         -1.835         0.900          0.134          0              90             0
  91  Shelf           1.750          0.552          -2.559         0              0              0
  92  GarbageCan      -1.935         -0.002         2.029          0              270            0
  93  Shelf           1.750          0.172          -2.559         0              0              0
  94  Fridge          -2.096         0.0            1.088          0              0              0
  95  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  96  SinkBasin       -1.908         0.759          -1.488         0              90             0
  97  LightSwitch     2.329          1.309          -0.159         0              270            0
  98  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  99  Stool           0.702          0.000          -0.514         1.202          65.108         0
 100  Stool           0.743          0.000          0.563          1.227          106.706        0
 101  Faucet          -2.070         1.132          -1.514         0              0              0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

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