Task: wash the dirty pan in the cabinet then put it on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.901          -0.25          0              270            0
   1  Pan             -0.854         0.912          -3.729         0              90             0              44
   2  Pan             -3.140         0.912          -3.227         0              180            0              44
   3  DishSponge      -0.102         1.867          -2.472         0              0              0              63
   4  DishSponge      -2.987         0.913          -3.581         0              0              0              44
   5  ButterKnife     -2.270         0.913          -3.804         0              0              0              44
   6  ButterKnife     -2.629         0.913          -3.729         0              0              0              44
   7  Spatula         -0.176         0.930          -1.555         0              90             0              71
   8  Spatula         -2.865         0.731          -0.780         0              270            0              88
   9  Spoon           -3.155         0.714          -0.608         0              225            0              88
  10  Egg             -2.975         1.434          -2.064         0              90             0              85
  11  Cup             -0.328         0.914          -3.213         0              0              0              44
  12  Plate           -0.374         0.078          -1.414         0              0              0              49
  13  Plate           -0.773         0.080          -3.714         0              0              0              46
  14  Plate           -3.275         1.866          -2.508         0              0              0              53
  15  Knife           -3.054         0.749          -0.483         0              225            0              88
  16  Tomato          -2.821         0.763          -0.540         0              225            0              88
  17  Tomato          -0.284         0.129          0.055          0              270            0              83
  18  Bowl            -2.519         0.714          -0.753         0              135            0              88
  19  PepperShaker    -0.338         0.912          -0.507         0              0              0              71
  20  Bread           -2.708         0.757          -0.250         0              225            0              88
  21  Apple           -3.346         0.956          -3.878         0              0              0              44
  22  Apple           -0.419         0.958          -0.507         0              0              0              71
  23  Pot             -0.376         0.975          -2.451         0              0              0              69
  24  Egg             -3.309         0.949          -3.327         0              0              0              44
  25  Cup             -3.182         1.013          -1.879         0              90             0              85
  26  Bread           -0.327         0.948          -3.681         0              298.222        0              44
  27  Fork            -0.257         0.916          -1.432         0              90             0              71
  28  Pan             -0.376         0.975          -2.031         0              180            0              73
  29  Potato          -0.158         1.056          -0.851         0              270            0              81
  30  Lettuce         -1.324         0.988          -3.759         1.621          253.789        357.313        44
  31  Tomato          -0.338         0.965          -1.493         0              0              0              71
  32  Apple           -2.723         0.756          -0.683         0              270            0              88
  33  SoapBottle      -0.102         1.867          -2.644         0              0              0              63
  34  Spatula         -3.082         0.761          -3.078         0              90             0              66
  35  SaltShaker      -3.176         1.864          -2.334         0              0              0              53
  36  Knife           -3.022         0.749          -0.741         0              315            0              88
  37  PepperShaker    -2.978         0.713          -0.785         0              225            0              88
  38  ButterKnife     -2.439         0.717          -0.558         0              270            0              88
  39  Plate           -3.130         0.639          -2.064         0              90             0              85
  40  DishSponge      -1.058         0.913          -3.952         0              0              0              44
  41  Spoon           -0.257         0.917          -0.472         0              0              0              71
  42  Mug             -3.275         1.863          -2.277         0              270            0              85
  43  Bowl            -0.076         0.911          -3.112         0              0              0              44
  44  CounterTop      -1.789         0.949          -3.803         0              0              0
  45  Cabinet         -0.577         0.388          -3.476         0              0              0
  46  Cabinet         -0.605         0.388          -3.511         0              0              0
  47  Cabinet         -2.976         0.388          -3.201         0              0              0
  48  Cabinet         -0.577         0.388          -0.447         0              0              0
  49  Cabinet         -0.577         0.388          -1.725         0              0              0
  50  Cabinet         -0.226         1.803          -1.743         0              0              0
  51  Cabinet         -0.228         1.799          -0.447         0              0              0
  52  Cabinet         -6.010         1.139          -6.019         0              0              0
  53  Cabinet         -3.022         2.098          -2.681         0              0              0
  54  Cabinet         -3.022         2.098          -1.743         0              0              0
  55  Cabinet         -0.577         0.388          -2.736         0              0              0
  56  Cabinet         -3.232         1.803          -3.343         0              0              0
  57  Cabinet         -2.811         1.810          -3.764         0              0              0
  58  Cabinet         -1.233         1.810          -3.764         0              0              0
  59  Cabinet         -1.364         0.388          -3.511         0              0              0
  60  Cabinet         -1.380         0.388          -3.511         0              0              0
  61  Cabinet         -0.226         1.803          -2.725         0              0              0
  62  Cabinet         -0.236         2.098          -1.767         0              0              0
  63  Cabinet         -0.236         2.098          -2.705         0              0              0
  64  Cabinet         -0.193         1.210          -4.239         0              0              0
  65  Cabinet         -2.148         0.388          -3.511         0              0              0
  66  Drawer          -3.104         0.797          -2.968         0              0              0
  67  Drawer          -0.449         0.797          -1.410         0              0              0
  68  Sink            -1.786         0.902          -3.748         0              0              0
  69  StoveBurner     -0.376         0.936          -2.451         0              0              0
  70  Drawer          -0.449         0.797          -0.762         0              0              0
  71  CounterTop      -0.268         0.951          -1.089         0              0              0
  72  Drawer          -0.449         0.797          -3.348         0              0              0
  73  StoveBurner     -0.376         0.936          -2.031         0              180            0
  74  Drawer          -0.449         0.797          -2.968         0              0              0
  75  StoveBurner     -0.165         0.936          -2.030         0              180            0
  76  StoveBurner     -0.165         0.936          -2.450         0              0              0
  77  StoveKnob       -0.568         0.903          -2.313         45             270            0
  78  StoveKnob       -0.568         0.903          -2.470         45             270            0
  79  StoveKnob       -0.568         0.903          -2.166         45             270            0
  80  StoveKnob       -0.568         0.903          -2.003         45             270            0
  81  Microwave       -0.143         0.903          -0.908         0              270            0
  82  LightSwitch     -1.108         1.457          0.338          0              180            0
  83  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  84  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  85  Fridge          -3.188         0.0            -2.184         0              0              0
  86  SinkBasin       -1.786         0.779          -3.747         0              0              0
  87  Toaster         -0.230         0.903          -3.406         0              270            0
  88  DiningTable     -2.800         0.003          -0.505         0              0              0
  89  Chair           -3.044         0.003          -1.223         0              32.194         0
  90  Faucet          -1.791         1.136          -3.913         0              270            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: go the counter | STEP 2: take the dirty pan from the cabinet below the counter | STEP 3: take the pan to the sink | STEP 4: wash the pan in the sink | STEP 5: take the pan to the counter to the right | STEP 6: put the pan on the counter to the right of the sink | END