Task: heat the plate from the cabinet above, put it in the cabinet in the corner

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          0.5            0              270            0
   1  Pan             1.328          0.957          -1.688         0              180            0              59
   2  Vase            -1.686         0.120          -0.766         0              0              0              61
   3  Book            -3.122         0.871          2.968          0              225            0              58
   4  Book            -3.165         0.875          3.370          0              270            0              58
   5  DishSponge      0.179          0.930          -1.718         0              270            0              53
   6  ButterKnife     -2.472         0.874          2.930          0              135            0              58
   7  ButterKnife     -0.723         0.912          -1.572         0              270            0              56
   8  Spatula         -2.659         0.889          2.715          0              0              0              58
   9  Spatula         -2.015         0.734          -1.579         0              270            0              75
  10  Pot             0.974          0.957          -1.419         0              180            0              74
  11  Fork            0.289          0.929          -1.646         0              90             0              53
  12  Plate           0.193          1.576          1.981          0              180            0              81
  13  Plate           -0.999         1.658          -1.750         0              0              0              68
  14  Tomato          -1.961         0.959          0.363          0              0              0              56
  15  Tomato          -0.035         0.436          2.054          0              180            0              81
  16  Bowl            -0.263         1.570          2.160          0              180            0              81
  17  Bowl            -2.659         0.876          3.728          0              0              0              58
  18  SaltShaker      -2.621         0.871          2.945          0              225            0              58
  19  SaltShaker      -1.738         0.908          -1.265         0              0              0              56
  20  PepperShaker    -1.738         0.908          -0.614         0              0              0              56
  21  PepperShaker    1.614          0.906          -1.437         0              0              0              76
  22  Lettuce         -2.196         0.943          2.968          0              135            0              58
  23  Apple           0.307          0.858          2.137          0              180            0              81
  24  Book            -2.050         0.116          -1.433         0              0              0              57
  25  Fork            0.069          0.929          -1.429         0              270            0              53
  26  Tomato          -0.263         0.436          2.025          0              180            0              81
  27  Egg             0.307          0.828          2.023          0              180            0              81
  28  Kettle          -0.833         0.900          -1.757         0              0              0              56
  29  Vase            3.689          0.881          1.759          0              270            0              77
  30  Cup             0.193          1.570          2.160          0              180            0              81
  31  WineBottle      -2.183         0.913          -0.288         0              0              0              56
  32  Plate           -2.088         0.123          -1.653         0              0              0              57
  33  Spatula         0.571          0.927          -1.776         0              90             0              56
  34  Potato          0.014          0.965          -1.573         0              270            0              53
  35  Pot             1.328          0.957          -1.420         0              180            0              60
  36  Knife           1.760          0.932          -1.618         0              90             0              76
  37  SaltShaker      -2.950         0.871          3.035          0              225            0              58
  38  PepperShaker    3.689          0.549          1.449          0              270            0              79
  39  Lettuce         -2.592         0.943          3.393          0              225            0              58
  40  ButterKnife     -2.321         0.878          3.370          0              270            0              58
  41  Bread           -1.601         0.980          -0.837         0              334.888        0              56
  42  Vase            -2.072         0.913          -0.939         0              0              0              56
  43  DishSponge      0.124          0.928          -1.501         0              270            0              53
  44  Apple           -0.035         0.858          2.023          0              180            0              81
  45  Pan             0.974          0.957          -1.688         0              180            0              55
  46  Spoon           0.179          0.929          -1.429         0              180            0              53
  47  SoapBottle      -0.871         0.193          2.136          0              90             0              86
  48  Mug             3.716          0.875          1.554          0              270            0              77
  49  Statue          -1.961         0.919          -1.591         0              0              0              56
  50  Statue          -1.627         0.910          -1.265         0              90             0              56
  51  Bowl            -2.490         0.876          3.147          0              270            0              58
  52  Cabinet         -2.171         2.009          -1.538         0              0              0
  53  Sink            0.024          0.771          -1.708         0              270            0
  54  Cabinet         1.444          2.259          -1.542         0              0              0
  55  StoveBurner     0.974          0.957          -1.688         0              180            0
  56  CounterTop      -1.866         0.947          -0.614         0              0              0
  57  Cabinet         -2.217         0.373          -1.874         0              0              0
  58  DiningTable     -2.663         0.002          3.208          0              0              0
  59  StoveBurner     1.328          0.957          -1.688         0              180            0
  60  StoveBurner     1.328          0.957          -1.420         0              180            0
  61  Cabinet         -1.478         0.373          -1.235         0              0              0
  62  Cabinet         1.775          0.372          -1.242         0              0              0
  63  Cabinet         0.774          0.372          -1.242         0              0              0
  64  Cabinet         0.375          0.372          -1.242         0              0              0
  65  Cabinet         -0.574         0.372          -1.238         0              0              0
  66  Cabinet         1.775          2.009          -1.542         0              0              0
  67  Cabinet         0.524          2.009          -1.542         0              0              0
  68  Cabinet         -0.714         2.009          -1.542         0              0              0
  69  Cabinet         -1.671         2.009          -1.538         0              0              0
  70  Cabinet         0.854          2.259          -1.542         0              0              0
  71  Drawer          -1.636         0.683          -0.930         0              0              0
  72  Drawer          1.650          0.682          -1.396         0              0              0
  73  Drawer          0.600          0.682          -1.396         0              0              0
  74  StoveBurner     0.974          0.957          -1.419         0              180            0
  75  Drawer          -2.062         0.683          -1.579         0              0              0
  76  CounterTop      1.645          0.945          -1.527         0              0              0
  77  Shelf           3.725          0.880          1.671          0              90             0
  78  LightSwitch     2.830          1.266          -0.748         0              0              0
  79  Shelf           3.726          0.552          1.671          0              90             0
  80  Microwave       1.150          1.655          -1.614         0              0              0
  81  Fridge          -0.035         0.0            2.177          0              180            0
  82  Window          -0.115         1.802          -1.896         90             0              0
  83  Window          -4.009         1.799          0.310          90             90             0
  84  Shelf           3.726          0.172          1.671          0              90             0
  85  SinkBasin       -0.330         0.686          -1.581         0              270            0
  86  GarbageCan      -0.870         -0.001         2.136          0              90             0
  87  StoveKnob       1.089          0.913          -1.243         45             0              0
  88  StoveKnob       1.208          0.913          -1.243         45             0              0
  89  StoveKnob       1.340          0.913          -1.243         45             0              0
  90  StoveKnob       0.961          0.913          -1.243         45             0              0
  91  Toaster         1.637          0.900          -1.673         0              0              0
  92  Chair           -3.505         0.002          3.290          0              105.736        0
  93  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  94  HousePlant      -2.663         0.835          3.209          0              0              0
  95  Faucet          -0.187         0.922          -1.75          0              311.166        0
  96  ShelvingUnit    3.726          0.006          1.671          0              90             0
  97  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  98  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  99  Chair           -2.934         0.002          2.437          0              28.531         0
 100  Chair           -1.698         0.002          3.235          0              245.204        0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Turn left, walk to the coffee machine | STEP 2: open the left cabinet above, take the plate out, close the cabinet | STEP 3: Turn left,walk to the stove | STEP 4: open the microwave, put the plate in, heat the plate, open the microwave, take the plate out, close the microwave | STEP 5: turn around to the stove | STEP 6: Open the cabinet by the stove, put the plate in , close the cabinet | END