Task: put chilled plate on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.908          0.25           0              90             0
   1  SprayBottle     1.367          0.885          2.800          0              0              0              107
   2  SprayBottle     -1.290         0.748          1.902          0              0              0              56
   3  Potato          -1.378         1.333          1.302          0              90             0              95
   4  CellPhone       -1.197         0.746          2.273          0              0              0              56
   5  DishSponge      -0.129         0.116          -0.446         0              0              0              71
   6  Glassbottle     -1.012         0.750          2.273          0              0              0              56
   7  Glassbottle     1.245          0.086          1.440          0              0              0              96
   8  WineBottle      1.133          0.087          1.377          0              0              0              96
   9  WineBottle      -1.123         0.913          -0.907         0              0              0              81
  10  Kettle          0.802          0.939          -0.473         0              0              0              83
  11  Kettle          0.802          0.939          -0.740         0              90             0              84
  12  Spoon           -0.919         0.750          1.902          0              0              0              56
  13  Spoon           1.184          0.777          0.368          0              90             0              89
  14  Fork            -1.135         0.912          -0.392         0              0              0              81
  15  Spatula         1.117          0.901          2.477          0              0              0              107
  16  Egg             -1.394         1.049          0.046          0              90             0              101
  17  Egg             -1.329         1.049          -0.005         0              90             0              101
  18  Plate           1.286          0.912          -0.144         0              0              0              75
  19  Plate           1.218          0.117          -0.052         0              0              0              69
  20  Knife           -1.290         0.771          2.644          0              0              0              56
  21  Knife           1.367          0.908          2.477          0              90             0              107
  22  Bowl            -1.197         0.747          2.459          0              0              0              56
  23  Bowl            0.209          0.115          -0.490         0              0              0              70
  24  Bread           -1.105         0.812          1.902          0              0              0              56
  25  Lettuce         -1.263         1.492          1.197          0              90             0              95
  26  PepperShaker    -1.123         0.908          -0.748         0              0              0              81
  27  PepperShaker    1.450          0.882          2.800          0              0              0              107
  28  Mug             -0.020         0.753          -0.691         0              0              0              102
  29  Apple           -1.329         1.075          0.098          0              90             0              101
  30  Bread           -1.263         0.814          1.197          0              90             0              95
  31  Glassbottle     -1.162         0.342          0.883          0              90             0              95
  32  Fork            -1.012         0.750          2.644          0              0              0              56
  33  Kettle          1.175          0.116          0.732          0              0              0              67
  34  Tomato          -1.378         1.686          1.289          0              90             0              95
  35  Plate           1.286          0.912          0.139          0              0              0              75
  36  CellPhone       0.951          0.884          2.261          0              0              0              107
  37  Lettuce         1.444          0.982          -0.428         0              0              0              75
  38  Pot             0.502          0.939          -0.740         0              90             0              82
  39  SoapBottle      -1.012         0.750          2.459          0              0              0              56
  40  WineBottle      -1.383         0.750          2.830          0              0              0              56
  41  Spatula         1.450          0.901          2.477          0              90             0              107
  42  Bowl            1.444          0.909          0.422          0              0              0              75
  43  Apple           -1.383         0.809          2.087          0              0              0              56
  44  Cup             1.200          0.885          2.261          0              0              0              107
  45  Knife           1.365          0.933          0.706          0              180            0              75
  46  Egg             -0.082         0.792          -0.533         0              0              0              102
  47  SaltShaker      1.207          0.907          -0.428         0              0              0              75
  48  PepperShaker    1.200          0.882          2.369          0              0              0              107
  49  Potato          -0.919         0.793          2.087          0              0              0              56
  50  ButterKnife     -0.968         0.912          -0.430         0              0              0              81
  51  DishSponge      1.127          0.776          0.020          0              0              0              76
  52  Pan             -1.290         0.749          3.015          0              90             0              56
  53  Spoon           1.127          0.777          0.332          0              90             0              89
  54  SprayBottle     1.356          1.655          -0.333         0              0              0              57
  55  Mug             0.041          0.753          -0.573         0              0              0              102
  56  DiningTable     -1.182         0.006          2.414          0              90             0
  57  Cabinet         1.184          2.059          0.375          0              0              0
  58  Cabinet         1.184          2.059          -0.635         0              0              0
  59  Cabinet         0.591          2.309          -0.645         0              0              0
  60  Cabinet         -0.574         2.059          -0.644         0              0              0
  61  Cabinet         -1.103         2.059          -0.644         0              0              0
  62  Cabinet         -1.185         2.059          -0.331         0              0              0
  63  Cabinet         -1.185         2.059          -0.281         0              0              0
  64  Cabinet         -1.185         2.059          0.375          0              0              0
  65  Cabinet         1.184          2.309          1.174          0              0              0
  66  Cabinet         1.184          2.309          0.424          0              0              0
  67  Cabinet         0.988          0.402          0.581          0              0              0
  68  Cabinet         0.988          0.402          0.531          0              0              0
  69  Cabinet         0.988          0.402          -0.178         0              0              0
  70  Cabinet         0.335          0.402          -0.348         0              0              0
  71  Cabinet         -0.374         0.402          -0.348         0              0              0
  72  Cabinet         0.988          0.402          1.231          0              0              0
  73  Cabinet         -1.185         2.309          1.374          0              0              0
  74  Cabinet         -1.185         2.309          0.424          0              0              0
  75  CounterTop      1.274          0.947          0.064          0              0              0
  76  Drawer          1.116          0.792          -0.015         0              0              0
  77  Drawer          -1.116         0.792          0.210          0              180            0
  78  Cabinet         -0.990         0.402          0.374          0              180            0
  79  Drawer          -1.116         0.792          -0.170         0              180            0
  80  Cabinet         -0.990         0.402          -0.335         0              180            0
  81  CounterTop      -1.001         0.947          -0.669         0              0              0
  82  StoveBurner     0.502          0.932          -0.740         0              90             0
  83  StoveBurner     0.801          0.932          -0.473         0              0              0
  84  StoveBurner     0.801          0.932          -0.740         0              90             0
  85  Drawer          1.116          0.792          1.081          0              0              0
  86  Sink            -0.013         0.912          -0.615         0              0              0
  87  Drawer          1.116          0.792          0.732          0              0              0
  88  StoveBurner     0.502          0.932          -0.469         0              0              0
  89  Drawer          1.116          0.792          0.367          0              0              0
  90  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  91  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  92  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  93  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  94  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  95  Fridge          -1.300         0.008          0.987          0              90             0
  96  GarbageCan      1.296          -0.024         1.465          0              0              0
  97  Window          -0.012         1.641          -0.972         90             0              0
  98  Window          1.598          1.646          2.489          90             270            0
  99  Toaster         1.356          0.900          1.044          0              270            0
 100  LightSwitch     0.118          1.353          3.799          0              180            0
 101  Microwave       -1.343         0.900          0.053          0              90             0
 102  SinkBasin       -0.029         0.748          -0.612         0              0              0
 103  Faucet          -0.026         0.927          -0.808         0              0              0
 104  Shelf           -1.182         0.127          2.414          0              90             0
 105  Stool           1.140          0.007          3.262          1.206          20.753         0
 106  Shelf           -1.182         0.435          2.414          0              90             0
 107  DiningTable     1.169          0.014          2.569          0              0              1.896
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: move a few steps to the right | STEP 2: pick up the plate that is on the counter | STEP 3: turn left, walk forward, turn left, walk to fridge | STEP 4: put plate in fridge, wait a minute, take plate out | STEP 5: turn right, walk to door, turn left to face table | STEP 6: put plate on the table | END