Task: Place a clean pan on a shelf.

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              90             0
   1  CreditCard      -1.784         0.791          -0.252         0              90             0              63
   2  CreditCard      1.006          0.773          -2.291         0              0              0              60
   3  Egg             -2.114         1.341          0.841          0              90             0              97
   4  Tomato          0.453          0.949          -2.330         0              0              0              66
   5  SaltShaker      -1.693         0.907          -0.884         0              0              0              89
   6  PepperShaker    -1.609         0.150          -0.053         0              90             0              87
   7  PepperShaker    -1.653         0.150          -0.245         0              90             0              87
   8  Lettuce         -0.473         1.191          0.757          0              0              0              64
   9  Lettuce         -0.197         1.191          -0.253         0              0              0              64
  10  Apple           -2.163         0.591          1.085          0              90             0              97
  11  Apple           -1.611         0.961          -2.695         0              0              0              89
  12  Knife           -1.693         0.936          -2.146         0              0              0              89
  13  Knife           0.079          1.136          -0.506         0              0              0              64
  14  Fork            0.355          1.112          0.251          0              0              0              64
  15  Fork            -1.937         0.911          -0.698         0              0              0              89
  16  Spoon           1.098          0.911          -2.330         0              0              0              66
  17  Spoon           0.453          0.911          -2.560         0              0              0              66
  18  Mug             -1.731         0.956          -0.168         0              90             0              98
  19  Spatula         0.079          1.126          -0.001         0              0              0              64
  20  Spatula         0.778          0.496          -2.282         0              270            0              72
  21  Pot             -0.036         0.950          -2.372         0              270            0              59
  22  Pot             -0.465         0.950          -2.372         0              90             0              62
  23  Glassbottle     0.563          0.141          -2.436         0              0              0              81
  24  Glassbottle     -1.935         0.048          2.076          0              270            0              95
  25  WineBottle      -1.567         1.659          -2.641         0              0              0              80
  26  DishSponge      -0.840         1.655          -2.604         0              0              0              78
  27  Bowl            0.217          1.108          -0.253         0              0              0              64
  28  Bowl            -1.755         0.132          -1.273         0              90             0              65
  29  Book            0.155          1.1            0.617          0              315            0              64
  30  Glassbottle     -1.013         1.657          -2.676         0              0              0              78
  31  Knife           -1.937         0.936          -0.513         0              0              0              89
  32  Bread           -2.078         0.870          1.085          0              90             0              97
  33  Fork            0.840          0.911          -2.637         0              0              0              66
  34  Potato          -2.122         1.533          0.925          0              90             0              97
  35  SoapBottle      1.119          1.661          -2.564         0              0              0              86
  36  Kettle          0.336          0.141          -2.387         0              0              0              81
  37  Pan             0.721          0.9            -2.415         0              0              0              66
  38  Plate           -2.081         1.499          1.176          0              90             0              97
  39  Tomato          0.217          1.150          -0.001         0              0              0              64
  40  Vase            2.042          0.540          -2.495         0              0              0              94
  41  Egg             -2.202         1.341          1.176          0              90             0              97
  42  CreditCard      -1.739         0.790          0.287          0              90             0              61
  43  Statue          1.955          0.168          -2.543         0              0              0              96
  44  WineBottle      -1.655         0.137          -1.856         0              90             0              65
  45  Pot             -0.335         1.115          -0.506         0              0              0              64
  46  Spatula         1.064          0.157          -2.286         0              270            0              84
  47  PaperTowelRoll  -0.995         1.015          -2.637         0              0              0              89
  48  Cup             -2.026         1.303          0.841          0              90             0              97
  49  Vase            -0.335         1.109          0.504          0              0              0              64
  50  Bowl            0.582          0.907          -2.637         0              0              0              66
  51  SaltShaker      -0.473         1.107          -0.253         0              0              0              64
  52  PepperShaker    -1.296         0.133          -2.554         0              0              0              82
  53  Lettuce         0.217          1.191          -0.759         0              0              0              64
  54  ButterKnife     0.582          0.910          -2.407         0              0              0              66
  55  Apple           -0.225         1.841          -2.514         0              0              0              90
  56  DishSponge      -1.962         0.047          1.933          0              270            0              95
  57  Spoon           -0.473         1.112          0.251          0              0              0              64
  58  Mug             -1.346         1.653          -2.604         0              0              0              80
  59  StoveBurner     -0.036         0.915          -2.372         0              0              0
  60  Drawer          0.949          0.832          -2.197         0              0              0
  61  Drawer          -1.560         0.839          0.204          0              90             0
  62  StoveBurner     -0.465         0.915          -2.371         0              180            0
  63  Drawer          -1.560         0.839          -0.197         0              90             0
  64  CounterTop      -0.079         1.147          -0.001         0              0              0
  65  Cabinet         -1.549         0.494          -1.964         0              90             0
  66  CounterTop      0.693          0.946          -2.483         0              0              0
  67  StoveBurner     -0.036         0.915          -2.576         0              0              0
  68  Drawer          0.949          0.393          -2.200         0              0              0
  69  Drawer          0.949          0.708          -2.200         0              0              0
  70  Cabinet         -1.549         0.494          0.379          0              90             0
  71  StoveKnob       -0.022         0.881          -2.187         45             0              0
  72  Drawer          0.949          0.560          -2.201         0              0              0
  73  StoveBurner     -0.465         0.915          -2.575         0              180            0
  74  Window          -2.230         1.429          -1.203         0              0              0
  75  StoveKnob       -0.483         0.881          -2.187         45             0              0
  76  Sink            -1.899         0.964          -1.5           0              90             0
  77  StoveKnob       -0.328         0.881          -2.187         45             0              0
  78  Cabinet         -0.727         2.015          -2.460         0              0              0
  79  Drawer          -1.560         0.655          -0.196         0              90             0
  80  Cabinet         -1.685         2.015          -2.461         0              0              0
  81  Cabinet         0.680          0.494          -2.200         0              0              0
  82  Cabinet         -1.179         0.494          -2.200         0              0              0
  83  Cabinet         -1.849         2.015          0.379          0              90             0
  84  Drawer          0.949          0.221          -2.200         0              0              0
  85  StoveKnob       -0.183         0.881          -2.187         45             0              0
  86  Cabinet         0.719          2.015          -2.460         0              0              0
  87  Drawer          -1.560         0.331          -0.196         0              90             0
  88  Cabinet         0.680          2.015          -2.460         0              0              0
  89  CounterTop      -1.868         0.946          -1.205         0              0              0
  90  Microwave       -0.236         1.689          -2.525         0              0              0
  91  Shelf           1.751          0.880          -2.560         0              0              0
  92  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  93  Toaster         -1.835         0.900          0.134          0              90             0
  94  Shelf           1.750          0.552          -2.559         0              0              0
  95  GarbageCan      -1.935         -0.002         2.029          0              270            0
  96  Shelf           1.750          0.172          -2.559         0              0              0
  97  Fridge          -2.096         0.0            1.088          0              0              0
  98  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  99  SinkBasin       -1.908         0.759          -1.488         0              90             0
 100  LightSwitch     2.329          1.309          -0.159         0              270            0
 101  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 102  Stool           0.702          0.000          -0.514         1.202          65.108         0
 103  Stool           0.743          0.000          0.563          1.227          106.706        0
 104  Faucet          -2.070         1.132          -1.514         0              0              0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn around and walk to the sink by the window. | STEP 2: Open the lower cabinets under the sink, pick up the dirty pan inside and close the doors. | STEP 3: Turn left and walk to the sink on the right. | STEP 4: Put the pan inside the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn around and walk to the rack of wooden shelves to the right. | STEP 6: Put the clean pan on the right side of the middle shelf on the rack. | END