Task: pick up plate, cook in microwave and put on counter top

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -2.5           0              0              0
   1  Pan             -0.222         0.961          -2.243         0              0              0              67
   2  Potato          -3.565         0.792          -3.432         0              244.125        0              84
   3  Potato          -3.747         0.792          -3.112         0              199.125        0              84
   4  ButterKnife     -2.962         0.894          -0.548         0              270            0              85
   5  ButterKnife     -1.248         0.942          -3.517         0              0              0              48
   6  Spoon           -3.882         0.691          -0.248         0              90             0              83
   7  Spoon           -3.481         0.761          -3.252         0              244.125        0              84
   8  Spatula         -3.942         0.705          -0.309         0              90             0              83
   9  Spatula         -3.565         0.909          -0.204         0              270            0              85
  10  Egg             -0.818         0.854          -3.510         0              315            0              77
  11  Cup             -0.503         0.082          -1.370         0              0              0              64
  12  Cup             -1.471         0.943          -3.673         0              0              0              48
  13  Plate           -0.321         1.502          -0.413         0              270            0              78
  14  Knife           -2.560         0.920          -0.376         0              270            0              85
  15  Knife           -0.475         0.777          -2.792         0              90             0              53
  16  SoapBottle      -3.562         0.758          -3.084         0              244.125        0              84
  17  SoapBottle      -0.173         1.500          -2.876         0              0              0              60
  18  Tomato          -2.359         0.945          -0.119         0              270            0              85
  19  Bowl            -3.565         0.892          -0.376         0              270            0              85
  20  Lettuce         -0.359         1.579          -0.646         0              270            0              78
  21  SaltShaker      -4.182         0.686          -0.248         0              0              0              83
  22  SaltShaker      -2.359         0.890          -0.290         0              270            0              85
  23  PepperShaker    -4.062         0.686          -0.430         0              0              0              83
  24  Mug             -0.389         0.075          -2.849         0              0              0              61
  25  Apple           -2.452         0.161          -3.472         0              0              0              73
  26  Apple           -3.541         0.821          -3.626         0              334.125        0              84
  27  SoapBottle      -0.299         0.940          -3.074         0              45             0              48
  28  Pot             -0.437         0.961          -1.845         0              180            0              49
  29  Fork            -4.122         0.691          -0.369         0              90             0              83
  30  Cup             -0.136         1.938          -1.162         0              0              0              56
  31  Tomato          -0.252         1.337          -0.297         0              270            0              78
  32  Pan             -4.064         0.758          -3.466         0              244.125        0              84
  33  Plate           -0.175         1.956          -0.660         0              0              0              55
  34  Bread           -3.364         0.976          -0.204         0              270            0              85
  35  Spatula         -2.761         0.909          -0.462         0              270            0              85
  36  Knife           -0.397         0.967          -2.847         0              0              0              48
  37  SaltShaker      -4.242         0.687          -0.308         0              0              0              83
  38  PepperShaker    -0.554         0.743          -1.375         0              0              0              52
  39  ButterKnife     -3.713         0.760          -3.778         0              199.125        0              84
  40  Apple           -4.062         0.752          -0.187         0              0              0              83
  41  DishSponge      -0.587         0.813          -3.279         0              315            0              77
  42  Potato          -0.376         1.318          -0.297         0              270            0              78
  43  Egg             -3.677         0.801          -3.556         0              244.125        0              84
  44  Spoon           -3.687         0.761          -3.182         0              334.125        0              84
  45  Lettuce         -1.100         1.017          -3.623         0              0              0              48
  46  Mug             -2.514         0.972          -3.649         0              0              0              74
  47  Bowl            -0.376         1.284          -0.762         0              270            0              78
  48  CounterTop      -1.937         0.977          -3.673         0              0              0
  49  StoveBurner     -0.437         0.924          -1.845         0              180            0
  50  StoveBurner     -0.222         0.924          -1.845         0              180            0
  51  StoveBurner     -0.437         0.924          -2.243         0              0              0
  52  Drawer          -0.500         0.779          -1.450         0              0              0
  53  Drawer          -0.481         0.777          -2.739         0              0              0
  54  Drawer          -1.154         0.782          -3.499         0              0              0
  55  Cabinet         -0.337         2.110          -0.390         0              0              0
  56  Cabinet         -0.337         2.110          -1.272         0              0              0
  57  Cabinet         -0.337         2.110          -1.631         0              0              0
  58  Cabinet         -0.337         2.110          -2.497         0              0              0
  59  Cabinet         -0.337         1.891          -1.286         0              0              0
  60  Cabinet         -0.346         1.891          -3.293         0              0              0
  61  Cabinet         -0.629         0.388          -2.513         0              0              0
  62  Cabinet         -0.633         0.388          -3.008         0              0              0
  63  Cabinet         -1.010         0.388          -3.368         0              0              0
  64  Cabinet         -0.629         0.388          -1.614         0              0              0
  65  Cabinet         -0.327         1.886          -2.513         0              0              0
  66  CounterTop      -0.326         0.976          -1.450         0              0              0
  67  StoveBurner     -0.222         0.924          -2.243         0              0              0
  68  Sink            -0.600         0.929          -3.388         0              0              0
  69  StoveKnob       -0.617         0.899          -1.833         315            90             180
  70  StoveKnob       -0.617         0.899          -2.129         315            90             180
  71  StoveKnob       -0.617         0.899          -2.289         315            90             180
  72  StoveKnob       -0.617         0.899          -1.975         315            90             180
  73  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  74  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  75  Window          -1.389         1.610          -4.113         90             0              0
  76  LightSwitch     -4.372         1.493          -1.031         0              90             0
  77  SinkBasin       -0.614         0.802          -3.384         0              315            0
  78  Fridge          -0.314         0.0            -0.646         0              0              0
  79  Toaster         -1.970         0.930          -3.763         0              0              0
  80  Microwave       -0.216         1.470          -2.054         0              270            0
  81  Blinds          -1.373         2.205          -3.961         0              0              0
  82  Faucet          -0.393         0.930          -3.614         270            225            0
  83  SideTable       -4.030         0.002          -0.301         0              185.034        0
  84  DiningTable     -3.586         0.000          -3.258         0              0              0
  85  DiningTable     -3.224         -0.003         -0.453         0              0              0
  86  Shelf           -4.030         0.259          -0.301         0              185.034        0
  87  Shelf           -4.030         0.489          -0.301         0              185.034        0
  88  EastWall
  89  EastWall
  90  SouthWall

Plan:
STEP 1: walk to fridge, stop and face fridge | STEP 2: open fridge door, pick up place with hexagon shapes, close fridge door | STEP 3: turn right, walk to stove, turn left, face stove and stop | STEP 4: open microwave door above stove, put plate inside microwave, close door, cook plate, open door, pick up plate, close microwave door | STEP 5: turn left, walk straight, turn right at counter top between fridge and stove | STEP 6: put plate on counter top between fridge and stove | END