Task: Rinse a pan and place 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           -0.5           0.908          2.5            0              270            0
   1  Pan             -0.503         0.911          -0.509         0              0              0              83
   2  Pan             -1.320         1.636          1.086          0              180            0              97
   3  SprayBottle     1.284          0.885          2.153          0              0              0              109
   4  SprayBottle     1.034          0.885          2.800          0              0              0              109
   5  DishSponge      1.523          0.911          -0.144         0              0              0              77
   6  DishSponge      1.444          0.911          0.139          0              0              0              77
   7  ButterKnife     -1.383         0.749          2.273          0              90             0              58
   8  WineBottle      -1.357         1.656          -0.128         0              0              0              65
   9  WineBottle      -1.220         0.117          0.289          0              180            0              80
  10  Spatula         1.367          0.901          2.369          0              0              0              109
  11  Spatula         1.286          0.926          -0.144         0              0              0              77
  12  Pot             0.802          0.939          -0.473         0              0              0              85
  13  Egg             -1.092         0.785          0.778          0              90             0              97
  14  Egg             1.133          0.120          1.377          0              0              0              98
  15  Cup             -1.290         0.748          2.644          0              0              0              58
  16  Plate           1.325          1.656          -0.453         0              0              0              59
  17  Knife           -1.197         0.770          2.459          0              180            0              58
  18  Tomato          1.034          0.936          2.584          0              0              0              109
  19  SoapBottle      -1.325         2.154          1.037          0              0              0              76
  20  SoapBottle      -0.664         1.657          -0.786         0              0              0              62
  21  Bowl            -1.290         0.747          2.459          0              0              0              58
  22  Bowl            1.324          2.152          0.957          0              0              0              68
  23  Bread           -1.320         1.484          0.778          0              90             0              97
  24  Bread           -1.320         1.700          0.781          0              90             0              97
  25  Lettuce         1.286          0.982          0.706          0              0              0              77
  26  Lettuce         -1.206         0.822          0.883          0              90             0              97
  27  SaltShaker      1.219          0.112          1.119          0              0              0              69
  28  PepperShaker    1.061          2.151          -0.851         0              0              0              61
  29  PepperShaker    -1.105         0.745          2.830          0              0              0              58
  30  Mug             -1.361         1.010          -0.109         0              90             0              103
  31  Apple           -1.194         0.401          0.778          0              90             0              97
  32  Bread           -1.320         0.814          1.197          0              90             0              97
  33  Glassbottle     -1.263         0.751          0.673          0              90             0              97
  34  Fork            -0.503         0.912          -0.828         0              0              0              83
  35  Kettle          -1.290         0.750          1.902          0              0              0              58
  36  Tomato          1.450          0.936          2.477          0              0              0              109
  37  Plate           1.117          0.887          2.261          0              0              0              109
  38  CellPhone       -1.060         0.909          -0.817         0              0              0              83
  39  Lettuce         -1.012         0.820          2.459          0              0              0              58
  40  Pot             0.502          0.939          -0.740         0              90             0              84
  41  SoapBottle      -1.433         0.913          -0.907         0              0              0              83
  42  WineBottle      -0.919         0.750          3.015          0              0              0              58
  43  Spatula         1.117          0.901          2.692          0              180            0              109
  44  Bowl            1.325          2.155          0.642          0              0              0              68
  45  Apple           -1.092         1.481          0.883          0              90             0              97
  46  Cup             -1.329         1.014          0.098          0              90             0              103
  47  Knife           1.444          0.933          0.422          0              0              0              77
  48  Egg             -1.197         0.783          2.830          0              0              0              58
  49  SaltShaker      -0.211         0.112          -0.665         0              0              0              83
  50  PepperShaker    -1.263         2.149          0.481          0              0              0              76
  51  Potato          1.245          0.131          1.440          0              0              0              98
  52  ButterKnife     1.117          0.886          2.584          0              0              0              109
  53  DishSponge      1.365          0.911          -0.428         0              0              0              77
  54  Pan             -1.206         1.287          1.092          0              90             0              97
  55  Spoon           1.212          0.777          0.403          0              270            0              91
  56  SprayBottle     0.951          0.885          2.369          0              0              0              109
  57  Mug             1.215          0.943          -0.633         0              320.314        0              96
  58  DiningTable     -1.182         0.006          2.414          0              90             0
  59  Cabinet         1.184          2.059          0.375          0              0              0
  60  Cabinet         1.184          2.059          -0.635         0              0              0
  61  Cabinet         0.591          2.309          -0.645         0              0              0
  62  Cabinet         -0.574         2.059          -0.644         0              0              0
  63  Cabinet         -1.103         2.059          -0.644         0              0              0
  64  Cabinet         -1.185         2.059          -0.331         0              0              0
  65  Cabinet         -1.185         2.059          -0.281         0              0              0
  66  Cabinet         -1.185         2.059          0.375          0              0              0
  67  Cabinet         1.184          2.309          1.174          0              0              0
  68  Cabinet         1.184          2.309          0.424          0              0              0
  69  Cabinet         0.988          0.402          0.581          0              0              0
  70  Cabinet         0.988          0.402          0.531          0              0              0
  71  Cabinet         0.988          0.402          -0.178         0              0              0
  72  Cabinet         0.335          0.402          -0.348         0              0              0
  73  Cabinet         -0.374         0.402          -0.348         0              0              0
  74  Cabinet         0.988          0.402          1.231          0              0              0
  75  Cabinet         -1.185         2.309          1.374          0              0              0
  76  Cabinet         -1.185         2.309          0.424          0              0              0
  77  CounterTop      1.274          0.947          0.064          0              0              0
  78  Drawer          1.116          0.792          -0.015         0              0              0
  79  Drawer          -1.116         0.792          0.210          0              180            0
  80  Cabinet         -0.990         0.402          0.374          0              180            0
  81  Drawer          -1.116         0.792          -0.170         0              180            0
  82  Cabinet         -0.990         0.402          -0.335         0              180            0
  83  CounterTop      -1.001         0.947          -0.669         0              0              0
  84  StoveBurner     0.502          0.932          -0.740         0              90             0
  85  StoveBurner     0.801          0.932          -0.473         0              0              0
  86  StoveBurner     0.801          0.932          -0.740         0              90             0
  87  Drawer          1.116          0.792          1.081          0              0              0
  88  Sink            -0.013         0.912          -0.615         0              0              0
  89  Drawer          1.116          0.792          0.732          0              0              0
  90  StoveBurner     0.502          0.932          -0.469         0              0              0
  91  Drawer          1.116          0.792          0.367          0              0              0
  92  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  93  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  94  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  95  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  96  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  97  Fridge          -1.300         0.008          0.987          0              90             0
  98  GarbageCan      1.296          -0.024         1.465          0              0              0
  99  Window          -0.012         1.641          -0.972         90             0              0
 100  Window          1.598          1.646          2.489          90             270            0
 101  Toaster         1.356          0.900          1.044          0              270            0
 102  LightSwitch     0.118          1.353          3.799          0              180            0
 103  Microwave       -1.343         0.900          0.053          0              90             0
 104  SinkBasin       -0.029         0.748          -0.612         0              0              0
 105  Faucet          -0.026         0.927          -0.808         0              0              0
 106  Shelf           -1.182         0.127          2.414          0              90             0
 107  Stool           1.140          0.007          3.262          1.206          20.753         0
 108  Shelf           -1.182         0.435          2.414          0              90             0
 109  DiningTable     1.169          0.014          2.569          0              0              1.896
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Turn to the left and go back to the counter. | STEP 2: Pick up the pan from the counter, to the right of the sink. | STEP 3: Take a step to the left to face the sink. | STEP 4: Place the pan in the sink and turn on the water. Turn off the water and pick up the pan. | STEP 5: Take the pan and turn around, and face left to the white table. | STEP 6: Place the pan on the left side of the white table. | END