Task: Warm a plate and put it in the sink

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          -1.75          0              270            0
   1  Book            -0.335         1.110          -0.759         0              0              0              56
   2  CreditCard      0.835          0.139          -2.479         0              0              0              76
   3  Plate           0.324          0.907          -2.330         0              0              0              58
   4  Plate           0.217          1.108          -0.759         0              0              0              56
   5  Tomato          0.582          0.949          -2.714         0              0              0              58
   6  SaltShaker      0.620          0.136          -2.288         0              0              0              73
   7  SaltShaker      1.893          0.549          -2.562         0              180            0              86
   8  PepperShaker    -1.013         1.652          -2.532         0              0              0              70
   9  Knife           -0.479         1.106          -0.035         90             186.170        0              56
  10  Spoon           -1.782         0.795          0.155          0              90             0              53
  11  Spoon           0.079          1.112          -0.253         0              0              0              56
  12  Spatula         1.008          0.330          -2.383         0              0              0              60
  13  Spatula         0.892          0.157          -2.286         0              270            0              76
  14  ButterKnife     0.582          0.910          -2.407         0              0              0              58
  15  ButterKnife     0.079          1.111          -0.001         0              0              0              56
  16  Kettle          -0.465         0.950          -2.576         0              90             0              65
  17  WineBottle      0.079          1.112          0.251          0              0              0              56
  18  DishSponge      -0.059         1.111          -0.506         0              0              0              56
  19  DishSponge      -1.962         0.047          2.029          0              270            0              87
  20  Bowl            -0.059         1.108          -0.253         0              0              0              56
  21  Book            0.155          1.1            0.617          0              315            0              56
  22  Glassbottle     1.891          0.881          -2.536         0              180            0              83
  23  Knife           -1.597         0.936          -1.869         0              90             0              81
  24  Bread           -0.530         1.177          -0.037         357.927        358.290        0              56
  25  Fork            -1.586         0.911          -2.637         0              0              0              81
  26  Potato          -2.114         1.336          1.343          0              90             0              89
  27  SoapBottle      -1.622         1.659          -2.567         0              0              0              72
  28  Kettle          0.355          1.112          -0.001         0              0              0              56
  29  Pan             -2.080         0.540          1.085          0              180            0              89
  30  Plate           -1.755         0.133          -1.623         0              90             0              57
  31  Tomato          1.098          0.949          -2.407         0              0              0              58
  32  Vase            2.042          0.540          -2.495         0              0              0              86
  33  Egg             0.582          0.945          -2.253         0              0              0              58
  34  CreditCard      -1.868         0.475          -0.245         0              90             0              71
  35  Statue          1.955          0.168          -2.543         0              0              0              88
  36  WineBottle      0.279          0.141          -2.387         0              0              0              73
  37  Pot             -0.036         0.950          -2.576         0              270            0              59
  38  Spatula         0.969          0.925          -2.253         0              0              0              58
  39  PaperTowelRoll  -1.880         0.152          2.124          0              270            0              87
  40  Cup             -1.290         0.909          -2.637         0              0              0              81
  41  Vase            -1.856         0.909          -2.036         0              0              0              81
  42  Bowl            -2.026         1.305          1.008          0              90             0              89
  43  SaltShaker      1.098          0.907          -2.560         0              0              0              58
  44  PepperShaker    -1.071         1.652          -2.676         0              0              0              70
  45  Lettuce         0.355          1.191          -0.253         0              0              0              56
  46  ButterKnife     -0.197         1.101          0.004          0              0              0              56
  47  Apple           -2.163         1.553          1.176          0              90             0              89
  48  DishSponge      0.949          0.645          -2.375         0              0              0              61
  49  Spoon           -1.856         0.912          -2.146         0              0              0              81
  50  Mug             -1.143         0.906          -2.637         0              0              0              81
  51  StoveBurner     -0.036         0.915          -2.372         0              0              0
  52  Drawer          0.949          0.832          -2.197         0              0              0
  53  Drawer          -1.560         0.839          0.204          0              90             0
  54  StoveBurner     -0.465         0.915          -2.371         0              180            0
  55  Drawer          -1.560         0.839          -0.197         0              90             0
  56  CounterTop      -0.079         1.147          -0.001         0              0              0
  57  Cabinet         -1.549         0.494          -1.964         0              90             0
  58  CounterTop      0.693          0.946          -2.483         0              0              0
  59  StoveBurner     -0.036         0.915          -2.576         0              0              0
  60  Drawer          0.949          0.393          -2.200         0              0              0
  61  Drawer          0.949          0.708          -2.200         0              0              0
  62  Cabinet         -1.549         0.494          0.379          0              90             0
  63  StoveKnob       -0.022         0.881          -2.187         45             0              0
  64  Drawer          0.949          0.560          -2.201         0              0              0
  65  StoveBurner     -0.465         0.915          -2.575         0              180            0
  66  Window          -2.230         1.429          -1.203         0              0              0
  67  StoveKnob       -0.483         0.881          -2.187         45             0              0
  68  Sink            -1.899         0.964          -1.5           0              90             0
  69  StoveKnob       -0.328         0.881          -2.187         45             0              0
  70  Cabinet         -0.727         2.015          -2.460         0              0              0
  71  Drawer          -1.560         0.655          -0.196         0              90             0
  72  Cabinet         -1.685         2.015          -2.461         0              0              0
  73  Cabinet         0.680          0.494          -2.200         0              0              0
  74  Cabinet         -1.179         0.494          -2.200         0              0              0
  75  Cabinet         -1.849         2.015          0.379          0              90             0
  76  Drawer          0.949          0.221          -2.200         0              0              0
  77  StoveKnob       -0.183         0.881          -2.187         45             0              0
  78  Cabinet         0.719          2.015          -2.460         0              0              0
  79  Drawer          -1.560         0.331          -0.196         0              90             0
  80  Cabinet         0.680          2.015          -2.460         0              0              0
  81  CounterTop      -1.868         0.946          -1.205         0              0              0
  82  Microwave       -0.236         1.689          -2.525         0              0              0
  83  Shelf           1.751          0.880          -2.560         0              0              0
  84  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  85  Toaster         -1.835         0.900          0.134          0              90             0
  86  Shelf           1.750          0.552          -2.559         0              0              0
  87  GarbageCan      -1.935         -0.002         2.029          0              270            0
  88  Shelf           1.750          0.172          -2.559         0              0              0
  89  Fridge          -2.096         0.0            1.088          0              0              0
  90  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  91  SinkBasin       -1.908         0.759          -1.488         0              90             0
  92  LightSwitch     2.329          1.309          -0.159         0              270            0
  93  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  94  Stool           0.702          0.000          -0.514         1.202          65.108         0
  95  Stool           0.743          0.000          0.563          1.227          106.706        0
  96  Faucet          -2.070         1.132          -1.514         0              0              0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn right, go forward a bit, turn left, go to the sink | STEP 2: Open the cupboard under the sink, pick up the plate in it | STEP 3: Turn around, go forward, turn left in front of the stove, turn up to the microwave | STEP 4: Put the plate in the microwave, start the microwave, wait, pick up the plate | STEP 5: Turn around, go forward a bit, turn left and go to the sink | STEP 6: Put the plate in the sink | END