Task: Take the plate from the microwave to place it on the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.900          1.0            0              0              0
   1  Vase            0.571          0.913          -1.674         0              0              0              60
   2  Potato          -0.040         0.965          -1.356         0              270            0              57
   3  Potato          0.193          1.608          2.279          0              180            0              85
   4  DishSponge      -0.292         0.121          -1.452         0              0              0              69
   5  DishSponge      -2.081         0.718          -1.441         0              0              0              79
   6  ButterKnife     -1.961         0.912          -0.288         0              0              0              60
   7  Kettle          0.124          0.929          -1.718         0              270            0              57
   8  Kettle          1.328          0.957          -1.688         0              180            0              63
   9  WineBottle      1.687          0.911          -1.437         0              0              0              80
  10  WineBottle      -3.165         0.879          3.147          0              270            0              62
  11  Spatula         0.709          0.927          -1.674         0              270            0              60
  12  Pot             0.974          0.957          -1.419         0              180            0              78
  13  Pot             0.974          0.957          -1.688         0              180            0              59
  14  Fork            -2.148         0.719          -1.716         0              90             0              79
  15  Fork            -2.321         0.879          3.221          0              270            0              62
  16  Spoon           0.599          0.719          -1.410         0              0              0              77
  17  Egg             -0.263         0.414          1.996          0              180            0              85
  18  Cup             -0.149         1.570          2.040          0              180            0              85
  19  Knife           -1.550         0.741          -1.073         0              90             0              75
  20  SoapBottle      -1.649         0.120          -0.766         0              0              0              65
  21  SoapBottle      -1.378         0.912          -1.369         0              0              0              60
  22  Tomato          -2.584         0.925          3.390          0              0              0              62
  23  Tomato          -0.035         0.436          2.054          0              180            0              85
  24  Bread           -1.627         0.995          -1.265         0              0              0              60
  25  Bread           -1.849         0.995          -1.265         0              0              0              60
  26  Lettuce         -2.964         0.943          3.632          0              135            0              62
  27  Lettuce         -1.738         0.977          0.363          0              0              0              60
  28  Book            -2.996         0.875          3.296          0              270            0              62
  29  Fork            0.179          0.929          -1.356         0              0              0              57
  30  Tomato          -1.849         0.959          -0.939         0              0              0              60
  31  Egg             -0.377         0.828          2.194          0              180            0              85
  32  Kettle          -2.584         0.875          2.715          0              0              0              62
  33  Vase            -2.058         1.658          -1.674         0              0              0              56
  34  Cup             0.997          2.155          -1.747         0              0              0              74
  35  WineBottle      -2.321         0.879          3.444          0              270            0              62
  36  Plate           1.210          1.765          -1.629         0              0              0              84
  37  Spatula         -2.577         0.893          3.618          0              315            0              62
  38  Potato          -2.793         0.915          2.878          0              225            0              62
  39  Pot             0.193          1.574          2.040          0              180            0              85
  40  Knife           1.760          0.932          -1.618         0              90             0              80
  41  SaltShaker      1.649          0.716          -1.443         0              0              0              76
  42  PepperShaker    3.845          0.549          1.449          0              270            0              83
  43  Lettuce         -2.490         0.943          3.073          0              270            0              62
  44  ButterKnife     -2.793         0.874          3.565          0              135            0              62
  45  Bread           -2.152         0.961          3.073          0              270            0              62
  46  Vase            -1.501         1.658          -1.710         0              0              0              73
  47  DishSponge      3.689          0.552          1.656          0              270            0              83
  48  Apple           -0.034         1.627          2.219          0              180            0              85
  49  Pan             0.972          0.959          -1.426         0              0              0              78
  50  Spoon           -0.367         0.698          -1.520         0              90             0              89
  51  SoapBottle      -0.871         0.193          2.058          0              90             0              90
  52  Mug             -1.112         0.958          -1.479         0              0              0              97
  53  Statue          -1.738         0.919          -0.614         0              0              0              60
  54  Statue          3.668          0.540          1.800          0              0              0              83
  55  Bowl            0.093          0.112          -1.415         0              0              0              68
  56  Cabinet         -2.171         2.009          -1.538         0              0              0
  57  Sink            0.024          0.771          -1.708         0              270            0
  58  Cabinet         1.444          2.259          -1.542         0              0              0
  59  StoveBurner     0.974          0.957          -1.688         0              180            0
  60  CounterTop      -1.866         0.947          -0.614         0              0              0
  61  Cabinet         -2.217         0.373          -1.874         0              0              0
  62  DiningTable     -2.663         0.002          3.208          0              0              0
  63  StoveBurner     1.328          0.957          -1.688         0              180            0
  64  StoveBurner     1.328          0.957          -1.420         0              180            0
  65  Cabinet         -1.478         0.373          -1.235         0              0              0
  66  Cabinet         1.775          0.372          -1.242         0              0              0
  67  Cabinet         0.774          0.372          -1.242         0              0              0
  68  Cabinet         0.375          0.372          -1.242         0              0              0
  69  Cabinet         -0.574         0.372          -1.238         0              0              0
  70  Cabinet         1.775          2.009          -1.542         0              0              0
  71  Cabinet         0.524          2.009          -1.542         0              0              0
  72  Cabinet         -0.714         2.009          -1.542         0              0              0
  73  Cabinet         -1.671         2.009          -1.538         0              0              0
  74  Cabinet         0.854          2.259          -1.542         0              0              0
  75  Drawer          -1.636         0.683          -0.930         0              0              0
  76  Drawer          1.650          0.682          -1.396         0              0              0
  77  Drawer          0.600          0.682          -1.396         0              0              0
  78  StoveBurner     0.974          0.957          -1.419         0              180            0
  79  Drawer          -2.062         0.683          -1.579         0              0              0
  80  CounterTop      1.645          0.945          -1.527         0              0              0
  81  Shelf           3.725          0.880          1.671          0              90             0
  82  LightSwitch     2.830          1.266          -0.748         0              0              0
  83  Shelf           3.726          0.552          1.671          0              90             0
  84  Microwave       1.150          1.655          -1.614         0              0              0
  85  Fridge          -0.035         0.0            2.177          0              180            0
  86  Window          -0.115         1.802          -1.896         90             0              0
  87  Window          -4.009         1.799          0.310          90             90             0
  88  Shelf           3.726          0.172          1.671          0              90             0
  89  SinkBasin       -0.330         0.686          -1.581         0              270            0
  90  GarbageCan      -0.870         -0.001         2.136          0              90             0
  91  StoveKnob       1.089          0.913          -1.243         45             0              0
  92  StoveKnob       1.208          0.913          -1.243         45             0              0
  93  StoveKnob       1.340          0.913          -1.243         45             0              0
  94  StoveKnob       0.961          0.913          -1.243         45             0              0
  95  Toaster         1.637          0.900          -1.673         0              0              0
  96  Chair           -3.505         0.002          3.290          0              105.736        0
  97  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  98  HousePlant      -2.663         0.835          3.209          0              0              0
  99  Faucet          -0.187         0.922          -1.75          0              311.166        0
 100  ShelvingUnit    3.726          0.006          1.671          0              90             0
 101  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 102  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 103  Chair           -2.934         0.002          2.437          0              28.531         0
 104  Chair           -1.698         0.002          3.235          0              245.204        0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn around and go past the counter. Walk straight and make a right to the stove. Look up at the microwave. | STEP 2: Open the microwave door to take the plate out and shut the door. | STEP 3: Bring it down and turn right to the sink then make a right to go to the fridge. | STEP 4: Open the fridge and put the plate on the shelf above the tomato and shut the door. After a few seconds take the plate back out. | STEP 5: Turn back around facing the sink then go left towards the brown shelf. | STEP 6: Put the plate on the second shelf from the bottom. | END