Task: Put a pan with a 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          -0.25          0              90             0
   1  DishSponge      0.781          0.664          0.569          0              0              0              42
   2  DishSponge      0.720          0.760          -0.061         0              0              0              36
   3  ButterKnife     0.841          0.664          0.326          0              0              0              42
   4  Spatula         0.671          0.774          -0.188         0              180            0              36
   5  Fork            0.901          0.665          0.508          0              0              0              42
   6  Fork            0.623          0.760          0.002          0              270            0              36
   7  Cup             0.715          0.771          -0.790         0              270            0              60
   8  Tomato          0.781          0.712          0.448          0              0              0              42
   9  Tomato          -1.297         0.100          -3.611         0              270            0              52
  10  PepperShaker    0.858          1.460          0.473          0              0              0              49
  11  PepperShaker    0.858          1.460          -0.084         0              0              0              48
  12  SaltShaker      0.994          1.460          0.039          0              0              0              48
  13  Mug             0.698          0.941          -1.360         0              270            0              50
  14  Mug             0.799          0.767          -0.680         0              270            0              60
  15  Pot             -2.071         0.927          0.772          0              266.284        0              39
  16  Plate           -2.023         0.692          -1.447         0              0              0              73
  17  Fork            0.866          0.760          -0.252         0              90             0              36
  18  SoapBottle      0.582          0.882          0.098          0              0              0              37
  19  Apple           -2.054         0.852          -3.771         0              0              0              59
  20  Pan             -1.555         0.930          1.049          0              0              0              46
  21  Egg             0.708          1.195          -1.725         0              270            0              57
  22  Spatula         0.817          0.775          0.002          0              270            0              36
  23  Potato          0.841          0.805          -0.845         0              270            0              60
  24  Cup             0.961          0.663          0.448          0              0              0              42
  25  SaltShaker      0.803          0.879          -0.176         0              0              0              37
  26  PepperShaker    0.898          0.012          0.011          0              0              0              47
  27  ButterKnife     0.729          0.883          -0.176         0              0              0              37
  28  DishSponge      0.601          0.664          0.448          0              0              0              42
  29  Bread           -0.873         0.931          0.978          0              24.231         0              63
  30  Lettuce         0.785          0.751          -1.880         0              270            0              57
  31  Tomato          0.785          1.423          -2.190         0              270            0              57
  32  Spoon           0.721          0.665          0.630          0              0              0              42
  33  Knife           0.574          0.782          -0.252         0              90             0              36
  34  Mug             0.785          1.153          -2.190         0              270            0              57
  35  Bowl            0.746          0.464          -1.958         0              270            0              57
  36  Drawer          0.706          0.766          -0.125         0              0              0
  37  CounterTop      0.792          0.919          -0.108         0              0              0
  38  Mirror          1.093          1.602          -0.643         0              0              0
  39  StoveBurner     -2.096         0.890          0.785          0              0              0
  40  Cabinet         0.507          0.345          -0.426         0              0              0
  41  StoveBurner     -1.552         0.890          0.785          0              0              0
  42  SideTable       0.770          -0.030         0.443          0              0              0
  43  Sink            0.753          0.882          -0.680         0              0              0
  44  StoveBurner     -2.096         0.890          1.049          0              0              0
  45  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  46  StoveBurner     -1.554         0.890          1.049          0              0              0
  47  Cabinet         0.507          0.345          0.156          0              0              0
  48  Cabinet         0.717          1.822          -0.398         0              0              0
  49  Cabinet         0.717          1.822          0.669          0              0              0
  50  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  51  Toaster         -0.522         0.886          1.081          0              180            0
  52  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  53  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  54  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  55  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  56  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  57  Fridge          0.680          -0.031         -1.957         0              0              0
  58  Window          -2.424         1.639          -2.453         90             270            0
  59  Microwave       -1.994         0.690          -3.651         0              0              0
  60  SinkBasin       0.757          0.762          -0.688         0              270            0
  61  LightSwitch     1.102          1.368          -3.737         0              270            0
  62  Shelf           -0.350         0.124          0.857          0              0              0
  63  DiningTable     -0.350         -0.025         0.857          0              0              0
  64  DiningTable     -1.909         -0.032         -3.507         0              0              0
  65  Blinds          -2.343         2.151          -2.437         0              270            0
  66  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  67  AluminumFoil    0.751          0.225          0.287          0              0              0
  68  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  69  Shelf           0.771          0.226          0.445          0              0              0
  70  Shelf           0.771          0.456          0.446          0              0              0
  71  Faucet          1.025          0.873          -0.678         270            180            0
  72  Shelf           -0.350         0.497          0.857          0              0              0
  73  DiningTable     -1.929         -0.035         -1.398         0              90             0
  74  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn left, go forward, turn right, go to the shelf unit | STEP 2: Pick up the spoon on the top shelf | STEP 3: Turn around, go to the stove, turn right | STEP 4: Put the spoon into the pan on the stove | STEP 5: Pick up the pan on the stove | STEP 6: Turn right and go forward, turn left and the counter and go to the table | STEP 7: Put the pan on to the table | END