Task: Place a 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           -1.75          0.900          -0.5           0              0              0
   1  Pen             -0.365         0.918          -3.771         0              0              0              50
   2  Pen             -2.096         0.926          -2.345         0              0              0              75
   3  Potato          -0.254         0.828          -1.860         0              270            0              68
   4  Potato          -2.096         0.954          -2.115         0              0              0              75
   5  DishSponge      -0.457         0.915          -3.697         0              0              0              50
   6  ButterKnife     -2.210         0.923          -1.654         0              0              0              75
   7  Pot             -1.515         0.935          -3.497         0              0              0              47
   8  Spatula         -2.552         0.938          -1.884         0              180            0              75
   9  Fork            -2.438         0.924          -1.654         0              0              0              75
  10  Fork            -2.552         0.924          -0.963         0              0              0              75
  11  Knife           -2.666         0.946          -1.423         0              180            0              75
  12  Plate           -2.666         0.925          -2.115         0              0              0              75
  13  SoapBottle      -0.499         0.079          -3.267         0              0              0              56
  14  Lettuce         -0.743         1.008          -3.697         0              0              0              50
  15  SaltShaker      -0.205         1.966          -2.363         0              0              0              57
  16  SaltShaker      -2.780         0.919          -2.345         0              0              0              75
  17  PepperShaker    -0.391         0.743          -3.267         0              0              0              61
  18  PepperShaker    -0.460         0.077          -2.109         0              0              0              55
  19  Mug             -0.246         1.093          -0.560         0              270            0              67
  20  Apple           -1.151         1.703          -3.870         0              0              0              63
  21  Lettuce         -0.392         1.191          -0.769         0              270            0              67
  22  Glassbottle     -2.210         0.924          -1.884         0              0              0              75
  23  Egg             -0.428         1.723          -0.455         0              270            0              67
  24  Pen             -0.528         0.918          -3.485         0              0              0              50
  25  Fork            -2.210         0.924          -2.345         0              0              0              75
  26  SoapBottle      -2.552         0.922          -1.193         0              0              0              75
  27  Pencil          -2.210         0.923          -2.345         0              0              0              75
  28  WineBottle      -2.780         0.924          -0.963         0              0              0              75
  29  Spatula         -2.324         0.938          -1.193         0              0              0              75
  30  Bread           -0.295         1.443          -0.665         0              270            0              67
  31  Tomato          -2.324         0.987          -2.115         0              0              0              75
  32  Pan             -2.174         0.913          -1.099         0              0              0              75
  33  Cup             -2.096         0.922          -1.423         0              0              0              75
  34  Pot             -1.129         0.935          -3.498         0              0              0              48
  35  SaltShaker      -0.499         0.077          -1.758         0              0              0              55
  36  Potato          -2.210         0.954          -2.115         0              0              0              75
  37  PepperShaker    -0.508         0.912          -2.966         0              0              0              61
  38  ButterKnife     -2.324         0.923          -1.423         0              0              0              75
  39  DishSponge      -1.975         0.026          -3.727         0              0              0              66
  40  Spoon           -0.671         0.916          -3.485         0              0              0              50
  41  Plate           -2.780         0.925          -1.654         0              0              0              75
  42  Knife           -2.324         0.946          -0.963         0              0              0              75
  43  Mug             -1.257         1.625          -3.936         0              90             0              63
  44  Bowl            -0.268         1.689          -0.560         0              270            0              67
  45  Cabinet         -0.582         0.388          -1.804         0              0              0
  46  StoveBurner     -1.515         0.928          -3.752         0              90             0
  47  StoveBurner     -1.515         0.928          -3.497         0              0              0
  48  StoveBurner     -1.129         0.928          -3.498         0              0              0
  49  Drawer          -0.749         0.779          -3.551         0              0              0
  50  CounterTop      -0.303         0.951          -2.793         0              0              0
  51  Cabinet         -0.883         2.140          -3.687         0              0              0
  52  Cabinet         -0.312         2.140          -1.543         0              0              0
  53  Sink            -0.349         0.907          -2.014         0              0              0
  54  Cabinet         -0.877         0.388          -3.422         0              0              0
  55  Cabinet         -0.582         0.388          -2.197         0              0              0
  56  Cabinet         -0.584         0.388          -3.396         0              0              0
  57  Cabinet         -0.312         2.140          -2.481         0              0              0
  58  Cabinet         -0.330         1.921          -3.390         0              0              0
  59  Cabinet         -1.764         2.140          -3.687         0              0              0
  60  StoveBurner     -1.129         0.928          -3.752         0              90             0
  61  Drawer          -0.454         0.779          -3.268         0              0              0
  62  Cabinet         -0.302         1.916          -2.501         0              0              0
  63  Microwave       -1.317         1.517          -3.801         0              1.440          0
  64  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  65  LightSwitch     -4.323         1.319          0.0            0              180            0
  66  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  67  Fridge          -0.330         0.0            -0.769         0              270            0
  68  SinkBasin       -0.350         0.786          -2.018         0              270            0
  69  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  70  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  71  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  72  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  73  Toaster         -0.181         0.903          -2.764         0              270            0
  74  Window          -2.503         1.782          -4.185         90             180            0
  75  DiningTable     -2.432         0.000          -1.694         0              270            0
  76  Shelf           -2.432         0.150          -1.694         0              270            0
  77  Blinds          -2.536         2.699          -3.959         0              0              0
  78  Faucet          -0.079         0.904          -2.034         270            180            0
  79  Chair           -3.264         0.002          -2.094         0              53.280         0
  80  Chair           -3.240         0.002          -1.253         0              117.257        0
  81  Shelf           -2.432         0.523          -1.694         0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn to the right and move to the white range to the left of the silver garbage bin, then turn right, move to the window, then turn right and face the green table. | STEP 2: Pick up the brown plate between the salt shaker and the spatula from the table. | STEP 3: Turn right, move past the range and the dishwasher, then move to the black refrigerator to the left of the sink. | STEP 4: Open the refrigerator, place the plate on the shelf to the right of the head of lettuce, close the refrigerator and let the plate chill, then open the refrigerator door, pick up the plate, and then close the refrigerator door. | STEP 5: Turn right, move to the sink, then turn right and face the center of the green table. | STEP 6: Place the plate on the table between the salt shaker and the spatula. | END