Task: put warm plate on counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.900          -0.25          0              180            0
   1  Pan             0.974          0.957          -1.688         0              180            0              58
   2  Pan             1.328          0.957          -1.420         0              180            0              63
   3  Potato          0.014          0.965          -1.356         0              270            0              56
   4  Book            -2.072         0.908          -1.265         0              0              0              59
   5  ButterKnife     0.234          0.928          -1.501         0              270            0              56
   6  Spatula         0.571          0.927          -1.674         0              270            0              59
   7  Spatula         -2.152         0.889          3.221          0              270            0              61
   8  Pot             1.328          0.957          -1.688         0              180            0              62
   9  Fork            -2.845         0.879          3.513          0              135            0              61
  10  Spoon           -2.321         0.879          3.370          0              270            0              61
  11  Egg             0.079          0.414          2.025          0              180            0              84
  12  Cup             0.997          2.155          -1.747         0              0              0              73
  13  Plate           0.307          1.576          2.160          0              180            0              84
  14  Plate           -2.807         0.878          3.728          0              0              0              61
  15  Plate           -1.649         0.123          -0.841         0              0              0              64
  16  Bowl            0.633          0.114          -1.408         0              0              0              66
  17  Bowl            0.617          0.910          -1.471         0              0              0              59
  18  SaltShaker      -1.649         0.714          -0.717         0              0              0              74
  19  SaltShaker      -2.353         0.871          2.811          0              135            0              61
  20  PepperShaker    3.743          0.877          1.759          0              270            0              80
  21  Bread           -2.490         0.958          3.221          0              270            0              61
  22  Lettuce         -2.436         0.943          3.559          0              0              0              61
  23  Lettuce         -2.740         0.943          2.825          0              225            0              61
  24  Mug             -1.112         0.958          -1.479         0              0              0              96
  25  Apple           -2.183         0.967          -0.288         0              0              0              59
  26  Apple           -0.035         0.858          2.080          0              180            0              84
  27  Book            -2.183         0.908          0.037          0              0              0              59
  28  Fork            -3.069         0.879          3.527          0              135            0              61
  29  Tomato          -0.149         0.436          2.025          0              180            0              84
  30  Egg             0.079          0.828          2.137          0              180            0              84
  31  Kettle          -0.833         0.900          -1.757         0              0              0              59
  32  Vase            3.671          0.168          1.841          0              0              0              82
  33  Cup             1.365          2.154          -1.787         0              0              0              57
  34  WineBottle      0.617          0.913          -1.267         0              0              0              59
  35  Plate           -0.149         1.576          2.100          0              180            0              84
  36  Spatula         -2.659         0.889          3.296          0              90             0              61
  37  Potato          0.179          0.965          -1.356         0              270            0              56
  38  Pot             3.741          0.555          1.553          0              270            0              82
  39  Knife           -2.048         0.741          -1.441         0              270            0              78
  40  SaltShaker      1.631          1.651          -1.672         0              0              0              69
  41  PepperShaker    -2.659         0.874          3.559          0              0              0              61
  42  Lettuce         -2.196         0.943          3.475          0              225            0              61
  43  ButterKnife     -0.040         0.928          -1.646         0              270            0              56
  44  Bread           -3.017         0.961          2.863          0              225            0              61
  45  Vase            -1.378         0.913          -1.674         0              0              0              59
  46  DishSponge      0.124          0.928          -1.646         0              270            0              56
  47  Apple           -2.996         0.929          3.147          0              270            0              61
  48  Pan             0.972          0.959          -1.426         0              0              0              77
  49  Spoon           -0.040         0.929          -1.501         0              270            0              56
  50  SoapBottle      -1.054         1.654          -1.788         0              0              0              71
  51  Mug             -2.996         0.869          3.296          0              270            0              61
  52  Statue          3.676          0.168          1.410          0              334.521        0              82
  53  Statue          3.668          0.540          1.800          0              0              0              82
  54  Bowl            -2.050         0.117          -1.433         0              0              0              60
  55  Cabinet         -2.171         2.009          -1.538         0              0              0
  56  Sink            0.024          0.771          -1.708         0              270            0
  57  Cabinet         1.444          2.259          -1.542         0              0              0
  58  StoveBurner     0.974          0.957          -1.688         0              180            0
  59  CounterTop      -1.866         0.947          -0.614         0              0              0
  60  Cabinet         -2.217         0.373          -1.874         0              0              0
  61  DiningTable     -2.663         0.002          3.208          0              0              0
  62  StoveBurner     1.328          0.957          -1.688         0              180            0
  63  StoveBurner     1.328          0.957          -1.420         0              180            0
  64  Cabinet         -1.478         0.373          -1.235         0              0              0
  65  Cabinet         1.775          0.372          -1.242         0              0              0
  66  Cabinet         0.774          0.372          -1.242         0              0              0
  67  Cabinet         0.375          0.372          -1.242         0              0              0
  68  Cabinet         -0.574         0.372          -1.238         0              0              0
  69  Cabinet         1.775          2.009          -1.542         0              0              0
  70  Cabinet         0.524          2.009          -1.542         0              0              0
  71  Cabinet         -0.714         2.009          -1.542         0              0              0
  72  Cabinet         -1.671         2.009          -1.538         0              0              0
  73  Cabinet         0.854          2.259          -1.542         0              0              0
  74  Drawer          -1.636         0.683          -0.930         0              0              0
  75  Drawer          1.650          0.682          -1.396         0              0              0
  76  Drawer          0.600          0.682          -1.396         0              0              0
  77  StoveBurner     0.974          0.957          -1.419         0              180            0
  78  Drawer          -2.062         0.683          -1.579         0              0              0
  79  CounterTop      1.645          0.945          -1.527         0              0              0
  80  Shelf           3.725          0.880          1.671          0              90             0
  81  LightSwitch     2.830          1.266          -0.748         0              0              0
  82  Shelf           3.726          0.552          1.671          0              90             0
  83  Microwave       1.150          1.655          -1.614         0              0              0
  84  Fridge          -0.035         0.0            2.177          0              180            0
  85  Window          -0.115         1.802          -1.896         90             0              0
  86  Window          -4.009         1.799          0.310          90             90             0
  87  Shelf           3.726          0.172          1.671          0              90             0
  88  SinkBasin       -0.330         0.686          -1.581         0              270            0
  89  GarbageCan      -0.870         -0.001         2.136          0              90             0
  90  StoveKnob       1.089          0.913          -1.243         45             0              0
  91  StoveKnob       1.208          0.913          -1.243         45             0              0
  92  StoveKnob       1.340          0.913          -1.243         45             0              0
  93  StoveKnob       0.961          0.913          -1.243         45             0              0
  94  Toaster         1.637          0.900          -1.673         0              0              0
  95  Chair           -3.505         0.002          3.290          0              105.736        0
  96  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  97  HousePlant      -2.663         0.835          3.209          0              0              0
  98  Faucet          -0.187         0.922          -1.75          0              311.166        0
  99  ShelvingUnit    3.726          0.006          1.671          0              90             0
 100  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 101  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 102  Chair           -2.934         0.002          2.437          0              28.531         0
 103  Chair           -1.698         0.002          3.235          0              245.204        0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: turn around, take two steps, turn right, walk past counter, turn right, walk to counter, turn right | STEP 2: open cabinet below, take plate out, close cabinet | STEP 3: turn around, walk forward, turn right to face stove | STEP 4: put plate in microwave, turn it on, take plate out when it turns off | STEP 5: move two steps to the left | STEP 6: put plate on the counter | END