Task: warm plate place on table, warm dog state place on table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.900          -0.25          0              270            0
   1  Pan             1.328          0.957          -1.420         0              180            0              66
   2  Vase            0.663          0.913          -1.674         0              0              0              62
   3  Book            -1.649         0.716          -1.001         0              90             0              77
   4  ButterKnife     -2.539         0.874          3.341          0              225            0              64
   5  Kettle          0.974          0.957          -1.688         0              180            0              61
   6  Kettle          -1.388         1.658          -1.747         0              0              0              75
   7  Spatula         -2.828         0.893          3.296          0              90             0              64
   8  Fork            -1.961         0.912          -0.939         0              0              0              62
   9  Fork            -3.165         0.879          3.296          0              270            0              64
  10  Spoon           -2.510         0.879          2.715          0              0              0              64
  11  Spoon           -0.040         0.929          -1.501         0              270            0              59
  12  Egg             -0.377         0.414          2.025          0              180            0              87
  13  Egg             -0.263         0.828          2.251          0              180            0              87
  14  Cup             0.234          0.927          -1.356         0              270            0              59
  15  Plate           -2.807         0.882          2.715          0              0              0              64
  16  Plate           3.689          0.557          1.449          0              270            0              85
  17  Plate           -1.738         0.916          0.363          0              0              0              62
  18  Knife           -2.950         0.896          3.035          0              225            0              64
  19  Knife           0.234          0.950          -1.573         0              270            0              59
  20  SoapBottle      0.150          0.114          -1.342         0              0              0              70
  21  SoapBottle      -2.001         1.657          -1.710         0              0              0              58
  22  Tomato          -2.183         0.959          -0.288         0              0              0              62
  23  Tomato          0.079          1.191          2.206          0              180            0              87
  24  PepperShaker    1.595          0.716          -1.344         0              0              0              78
  25  Bread           -1.961         0.995          -0.614         0              0              0              62
  26  Lettuce         -1.516         0.977          -1.591         0              0              0              62
  27  Lettuce         -2.733         0.943          3.728          0              0              0              64
  28  Apple           -1.378         0.967          -1.369         0              0              0              62
  29  Apple           -2.248         0.929          2.916          0              135            0              64
  30  Book            -2.248         0.875          3.527          0              225            0              64
  31  Fork            -2.472         0.879          2.930          0              135            0              64
  32  Tomato          -0.263         1.619          1.981          0              180            0              87
  33  Egg             -0.149         0.414          2.025          0              180            0              87
  34  Kettle          -1.849         0.913          -0.288         0              0              0              62
  35  Vase            -2.510         0.875          3.728          0              0              0              64
  36  Cup             -2.143         0.873          3.021          0              135            0              64
  37  WineBottle      -2.152         0.879          3.296          0              270            0              64
  38  Plate           0.193          0.807          2.194          0              180            0              87
  39  Spatula         -3.017         0.889          3.580          0              135            0              64
  40  Potato          0.289          0.965          -1.718         0              270            0              59
  41  Pot             1.328          0.957          -1.688         0              180            0              65
  42  Knife           -0.723         0.934          -1.674         0              90             0              62
  43  SaltShaker      3.634          0.877          1.452          0              270            0              83
  44  PepperShaker    -2.606         0.874          3.169          0              225            0              64
  45  Lettuce         -0.035         1.637          2.040          0              180            0              87
  46  ButterKnife     -2.152         0.874          3.073          0              270            0              64
  47  Bread           -3.122         0.958          2.968          0              225            0              64
  48  Vase            -2.013         0.120          -1.433         0              0              0              63
  49  DishSponge      1.676          0.719          -1.443         0              0              0              78
  50  Apple           -0.871         0.247          2.174          0              90             0              92
  51  Pan             0.972          0.959          -1.426         0              0              0              80
  52  Spoon           -2.845         0.875          3.513          0              135            0              64
  53  SoapBottle      -0.871         0.193          2.058          0              90             0              92
  54  Mug             -2.697         0.869          3.498          0              225            0              64
  55  Statue          3.637          0.560          1.656          0              270            0              85
  56  Statue          -1.516         0.910          -1.265         0              270            0              62
  57  Bowl            -1.961         0.910          -1.265         0              0              0              62
  58  Cabinet         -2.171         2.009          -1.538         0              0              0
  59  Sink            0.024          0.771          -1.708         0              270            0
  60  Cabinet         1.444          2.259          -1.542         0              0              0
  61  StoveBurner     0.974          0.957          -1.688         0              180            0
  62  CounterTop      -1.866         0.947          -0.614         0              0              0
  63  Cabinet         -2.217         0.373          -1.874         0              0              0
  64  DiningTable     -2.663         0.002          3.208          0              0              0
  65  StoveBurner     1.328          0.957          -1.688         0              180            0
  66  StoveBurner     1.328          0.957          -1.420         0              180            0
  67  Cabinet         -1.478         0.373          -1.235         0              0              0
  68  Cabinet         1.775          0.372          -1.242         0              0              0
  69  Cabinet         0.774          0.372          -1.242         0              0              0
  70  Cabinet         0.375          0.372          -1.242         0              0              0
  71  Cabinet         -0.574         0.372          -1.238         0              0              0
  72  Cabinet         1.775          2.009          -1.542         0              0              0
  73  Cabinet         0.524          2.009          -1.542         0              0              0
  74  Cabinet         -0.714         2.009          -1.542         0              0              0
  75  Cabinet         -1.671         2.009          -1.538         0              0              0
  76  Cabinet         0.854          2.259          -1.542         0              0              0
  77  Drawer          -1.636         0.683          -0.930         0              0              0
  78  Drawer          1.650          0.682          -1.396         0              0              0
  79  Drawer          0.600          0.682          -1.396         0              0              0
  80  StoveBurner     0.974          0.957          -1.419         0              180            0
  81  Drawer          -2.062         0.683          -1.579         0              0              0
  82  CounterTop      1.645          0.945          -1.527         0              0              0
  83  Shelf           3.725          0.880          1.671          0              90             0
  84  LightSwitch     2.830          1.266          -0.748         0              0              0
  85  Shelf           3.726          0.552          1.671          0              90             0
  86  Microwave       1.150          1.655          -1.614         0              0              0
  87  Fridge          -0.035         0.0            2.177          0              180            0
  88  Window          -0.115         1.802          -1.896         90             0              0
  89  Window          -4.009         1.799          0.310          90             90             0
  90  Shelf           3.726          0.172          1.671          0              90             0
  91  SinkBasin       -0.330         0.686          -1.581         0              270            0
  92  GarbageCan      -0.870         -0.001         2.136          0              90             0
  93  StoveKnob       1.089          0.913          -1.243         45             0              0
  94  StoveKnob       1.208          0.913          -1.243         45             0              0
  95  StoveKnob       1.340          0.913          -1.243         45             0              0
  96  StoveKnob       0.961          0.913          -1.243         45             0              0
  97  Toaster         1.637          0.900          -1.673         0              0              0
  98  Chair           -3.505         0.002          3.290          0              105.736        0
  99  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
 100  HousePlant      -2.663         0.835          3.209          0              0              0
 101  Faucet          -0.187         0.922          -1.75          0              311.166        0
 102  ShelvingUnit    3.726          0.006          1.671          0              90             0
 103  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 104  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 105  Chair           -2.934         0.002          2.437          0              28.531         0
 106  Chair           -1.698         0.002          3.235          0              245.204        0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: turn right walk until you reach wall, turn right walk until you reach shelves | STEP 2: pick up plate on shelf, pick up dog statue on shelf | STEP 3: turn around walk until you reach refrigerator, turn left walk until you reach counter top | STEP 4: look up, place plate in the microwave, place dog statue in the microwave, active microwave, take plate out microwave, take dog statue out of microwave | STEP 5: turn right walk until you reach counter top, turn right walk until you reach recycle bin, turn left walk until you reach wall, turn right walk until you reach chair in the corner, turn right to face the table | STEP 6: place plate behind the fork left of the bread, place dog statue left of the plate | END