Task: Retrieve plate from cupboard, insert it into microwave, take the plate to the fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -0.25          0              90             0
   1  Book            -2.950         0.871          3.035          0              225            0              55
   2  Book            -2.183         0.908          -1.265         0              0              0              53
   3  DishSponge      0.234          0.928          -1.356         0              270            0              50
   4  Kettle          0.974          0.957          -1.688         0              180            0              52
   5  Kettle          -0.833         0.913          -1.369         0              0              0              53
   6  Pot             1.328          0.957          -1.688         0              180            0              56
   7  Egg             0.193          0.414          2.054          0              180            0              78
   8  Plate           -2.321         0.878          3.370          0              270            0              55
   9  Plate           -0.149         0.393          2.025          0              180            0              78
  10  Plate           0.665          1.657          -1.675         0              0              0              64
  11  Knife           -0.040         0.950          -1.718         0              90             0              50
  12  SaltShaker      -3.122         0.871          3.475          0              135            0              55
  13  SaltShaker      0.638          0.714          -1.410         0              0              0              70
  14  PepperShaker    -2.845         0.871          3.513          0              135            0              55
  15  PepperShaker    -0.403         0.118          -1.373         0              0              0              62
  16  Bread           -2.793         0.961          2.878          0              225            0              55
  17  Bread           -1.849         0.995          -0.614         0              0              0              53
  18  Lettuce         0.079          0.867          2.194          0              180            0              78
  19  Lettuce         0.193          1.637          2.160          0              180            0              78
  20  Apple           -0.377         0.444          2.054          0              180            0              78
  21  Book            -1.738         0.908          -1.265         0              0              0              53
  22  Fork            1.760          0.910          -1.437         0              90             0              73
  23  Tomato          0.234          0.975          -1.573         0              270            0              50
  24  Egg             0.307          0.828          2.080          0              180            0              78
  25  Kettle          -0.833         0.900          -1.757         0              0              0              53
  26  Vase            3.671          0.168          1.841          0              0              0              76
  27  Cup             3.637          0.551          1.656          0              270            0              76
  28  WineBottle      -2.353         0.879          2.811          0              135            0              55
  29  Plate           -0.237         0.125          -1.373         0              0              0              62
  30  Spatula         -2.828         0.889          3.370          0              0              0              55
  31  Potato          -0.377         1.608          2.100          0              180            0              78
  32  Pot             1.328          0.957          -1.420         0              180            0              57
  33  Knife           -1.961         0.934          -0.614         0              0              0              53
  34  SaltShaker      3.637          0.549          1.345          0              270            0              76
  35  PepperShaker    1.687          0.906          -1.437         0              0              0              73
  36  Lettuce         -0.035         1.637          2.160          0              180            0              78
  37  ButterKnife     -2.807         0.874          3.728          0              0              0              55
  38  Bread           -2.152         0.958          3.073          0              270            0              55
  39  Vase            -2.013         0.120          -1.580         0              0              0              54
  40  DishSponge      -1.616         0.717          -0.859         0              0              0              68
  41  Apple           -0.871         0.247          2.058          0              90             0              83
  42  Pan             0.974          0.957          -1.419         0              180            0              71
  43  Spoon           -0.292         0.698          -1.468         0              0              0              82
  44  SoapBottle      -0.897         0.193          2.174          0              90             0              83
  45  Mug             -3.165         0.869          3.073          0              0              0              55
  46  Statue          0.755          0.919          -1.674         0              270            0              53
  47  Statue          -1.627         0.910          0.037          0              0              0              53
  48  Bowl            0.997          2.154          -1.710         0              0              0              67
  49  Cabinet         -2.171         2.009          -1.538         0              0              0
  50  Sink            0.024          0.771          -1.708         0              270            0
  51  Cabinet         1.444          2.259          -1.542         0              0              0
  52  StoveBurner     0.974          0.957          -1.688         0              180            0
  53  CounterTop      -1.866         0.947          -0.614         0              0              0
  54  Cabinet         -2.217         0.373          -1.874         0              0              0
  55  DiningTable     -2.663         0.002          3.208          0              0              0
  56  StoveBurner     1.328          0.957          -1.688         0              180            0
  57  StoveBurner     1.328          0.957          -1.420         0              180            0
  58  Cabinet         -1.478         0.373          -1.235         0              0              0
  59  Cabinet         1.775          0.372          -1.242         0              0              0
  60  Cabinet         0.774          0.372          -1.242         0              0              0
  61  Cabinet         0.375          0.372          -1.242         0              0              0
  62  Cabinet         -0.574         0.372          -1.238         0              0              0
  63  Cabinet         1.775          2.009          -1.542         0              0              0
  64  Cabinet         0.524          2.009          -1.542         0              0              0
  65  Cabinet         -0.714         2.009          -1.542         0              0              0
  66  Cabinet         -1.671         2.009          -1.538         0              0              0
  67  Cabinet         0.854          2.259          -1.542         0              0              0
  68  Drawer          -1.636         0.683          -0.930         0              0              0
  69  Drawer          1.650          0.682          -1.396         0              0              0
  70  Drawer          0.600          0.682          -1.396         0              0              0
  71  StoveBurner     0.974          0.957          -1.419         0              180            0
  72  Drawer          -2.062         0.683          -1.579         0              0              0
  73  CounterTop      1.645          0.945          -1.527         0              0              0
  74  Shelf           3.725          0.880          1.671          0              90             0
  75  LightSwitch     2.830          1.266          -0.748         0              0              0
  76  Shelf           3.726          0.552          1.671          0              90             0
  77  Microwave       1.150          1.655          -1.614         0              0              0
  78  Fridge          -0.035         0.0            2.177          0              180            0
  79  Window          -0.115         1.802          -1.896         90             0              0
  80  Window          -4.009         1.799          0.310          90             90             0
  81  Shelf           3.726          0.172          1.671          0              90             0
  82  SinkBasin       -0.330         0.686          -1.581         0              270            0
  83  GarbageCan      -0.870         -0.001         2.136          0              90             0
  84  StoveKnob       1.089          0.913          -1.243         45             0              0
  85  StoveKnob       1.208          0.913          -1.243         45             0              0
  86  StoveKnob       1.340          0.913          -1.243         45             0              0
  87  StoveKnob       0.961          0.913          -1.243         45             0              0
  88  Toaster         1.637          0.900          -1.673         0              0              0
  89  Chair           -3.505         0.002          3.290          0              105.736        0
  90  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  91  HousePlant      -2.663         0.835          3.209          0              0              0
  92  Faucet          -0.187         0.922          -1.75          0              311.166        0
  93  ShelvingUnit    3.726          0.006          1.671          0              90             0
  94  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  95  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  96  Chair           -2.934         0.002          2.437          0              28.531         0
  97  Chair           -1.698         0.002          3.235          0              245.204        0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn right, walk to microwave | STEP 2: Open cupboard on the right of microwave, get the plate | STEP 3: Move to the front of the microwave | STEP 4: Put the plate in the microwave, close door, retrieve the plate from the microwave | STEP 5: Turn around and walk to the fridge | STEP 6: Put the plate on the top shelf of the fridge | END