Task: drop a pan with a spoon in it on 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           -0.5           0.901          1.0            0              90             0
   1  DishSponge      -2.480         0.900          1.913          0              0              0              77
   2  DishSponge      -0.913         1.773          0.297          0              0              0              54
   3  ButterKnife     -1.770         0.662          0.464          0              0              0              59
   4  ButterKnife     -1.770         0.928          0.602          0              0              0              56
   5  Spoon           -0.326         0.663          0.300          0              0              0              45
   6  Spoon           -2.269         0.663          0.409          0              0              0              64
   7  Fork            -0.326         0.662          0.464          0              0              0              45
   8  Pot             -0.400         0.900          3.133          0              0              0              79
   9  Egg             -2.377         0.933          2.706          0              0              0              77
  10  Cup             -0.191         1.023          0.203          0              0              0              75
  11  Knife           -1.637         0.953          0.348          0              0              0              56
  12  Knife           -2.628         0.961          3.209          0              0              0              63
  13  Tomato          -2.789         0.964          2.706          0              0              0              77
  14  Tomato          -2.628         0.999          3.488          0              0              0              63
  15  Bowl            -2.847         1.183          4.575          0              90             0              73
  16  Bowl            -2.377         0.897          2.573          0              0              0              77
  17  PepperShaker    -2.549         0.931          3.209          0              0              0              63
  18  PepperShaker    -2.161         0.658          0.245          0              0              0              64
  19  Bread           -2.892         0.957          2.309          0              0              0              77
  20  Bread           -0.486         0.957          2.530          0              0              0              79
  21  Mug             -2.628         0.930          3.766          0              180            0              63
  22  Apple           -2.878         0.355          4.352          0              90             0              73
  23  Apple           -2.847         0.688          4.352          0              90             0              73
  24  Egg             -2.303         0.961          0.518          0              0              0              56
  25  Plate           -0.194         1.777          0.205          0              0              0              55
  26  Fork            -2.161         0.662          0.519          0              270            0              64
  27  Bread           -2.864         0.940          1.983          0              0              0              77
  28  Apple           -2.785         0.991          3.302          0              0              0              63
  29  Lettuce         -2.847         1.266          4.352          0              90             0              73
  30  Spatula         -1.085         0.943          0.650          0              0              0              56
  31  Knife           -2.480         0.926          2.441          0              0              0              77
  32  Potato          -2.037         0.954          0.602          0              0              0              56
  33  Tomato          -2.170         0.992          0.433          0              0              0              56
  34  Cup             -0.314         0.900          3.334          0              0              0              79
  35  SaltShaker      -2.246         1.769          0.251          0              0              0              52
  36  PepperShaker    -0.314         0.896          2.731          0              0              0              79
  37  ButterKnife     -2.686         0.900          2.573          0              0              0              77
  38  SoapBottle      -2.628         0.935          3.302          0              0              0              63
  39  Pan             -0.250         0.926          4.651          0              0              0              58
  40  DishSponge      -2.583         0.900          2.309          0              0              0              77
  41  Pot             -0.535         0.928          4.274          0              0              0              60
  42  Spoon           -2.549         0.936          3.673          0              90             0              63
  43  Mug             -2.583         0.895          2.441          0              0              0              77
  44  Bowl            -1.801         1.770          0.160          0              0              0              51
  45  Drawer          -0.325         0.696          0.413          0              0              0
  46  Cabinet         -0.595         0.490          0.648          0              0              0
  47  Cabinet         -0.555         0.490          0.646          0              0              0
  48  Cabinet         -1.591         0.490          0.646          0              0              0
  49  Cabinet         -1.554         0.490          0.646          0              0              0
  50  Cabinet         -2.550         0.490          0.646          0              0              0
  51  Cabinet         -1.514         2.046          0.392          0              0              0
  52  Cabinet         -2.474         2.046          0.392          0              0              0
  53  Cabinet         -1.478         2.046          0.392          0              0              0
  54  Cabinet         -0.518         2.046          0.392          0              0              0
  55  Cabinet         -0.479         2.046          0.392          0              0              0
  56  CounterTop      -1.366         0.952          0.349          0              0              0
  57  Sink            -1.108         0.926          0.340          0              0              0
  58  StoveBurner     -0.254         0.922          4.672          0              0              0
  59  Drawer          -1.824         0.696          0.413          0              0              0
  60  StoveBurner     -0.535         0.922          4.274          0              0              0
  61  StoveBurner     -0.254         0.922          4.274          0              0              0
  62  StoveBurner     -0.536         0.922          4.672          0              0              0
  63  CounterTop      -2.780         0.971          3.487          0              0              0
  64  Drawer          -2.323         0.696          0.413          0              0              0
  65  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  67  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  68  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  69  Toaster         -0.286         0.861          3.520          0              270            0
  70  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  71  LightSwitch     -0.064         1.447          1.996          0              270            0
  72  Window          -3.075         1.593          1.361          90             90             0
  73  Fridge          -2.802         0.0            4.427          0              0              0
  74  SinkBasin       -1.106         0.785          0.337          0              0              0
  75  Microwave       -0.358         0.917          0.224          0              0              0
  76  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  77  DiningTable     -2.733         -0.003         2.607          0              270            0
  78  Faucet          -1.077         0.920          0.028          270            270            0
  79  DiningTable     -0.488         -0.003         3.182          0              270            0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: turn right towards the shelf | STEP 2: pick up the sponge | STEP 3: turn around towards the gas | STEP 4: drop the sponge on the pan on the gas | STEP 5: pick up the pan | STEP 6: turn right and move to the sink | STEP 7: drop the pan on the sink | END