Task: warm a plate and put it on the counter

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          0.899          2.75           0              180            0
   1  Pan             -2.469         0.930          1.712          0              270            0              85
   2  Pencil          -0.503         0.746          4.460          0              270            0              60
   3  ButterKnife     -4.172         0.923          2.183          0              0              0              70
   4  WineBottle      -4.171         0.078          2.205          0              0              0              80
   5  WineBottle      -4.210         0.078          2.367          0              0              0              80
   6  Pot             -2.924         0.930          1.712          0              180            0              67
   7  Fork            -3.852         0.924          5.336          0              90             0              70
   8  Fork            -4.196         0.791          3.347          0              0              0              102
   9  Spoon           -4.411         0.924          5.418          0              90             0              70
  10  Spoon           -4.381         0.924          2.533          0              0              0              70
  11  Spatula         -4.210         0.770          2.768          0              270            0              50
  12  Spatula         -4.108         0.938          4.900          0              90             0              70
  13  Cup             -0.259         1.684          3.915          0              270            0              103
  14  Plate           -4.411         0.924          3.863          0              90             0              70
  15  SaltShaker      -0.562         0.742          5.919          0              270            0              90
  16  SaltShaker      -0.473         0.742          6.645          0              270            0              90
  17  Mug             -0.242         1.065          3.974          0              270            0              103
  18  Apple           -4.335         0.976          4.900          0              90             0              70
  19  Apple           -3.748         0.122          6.333          0              270            0              96
  20  Egg             -4.271         0.826          3.097          0              270            0              102
  21  Apple           -0.259         1.389          3.850          0              270            0              103
  22  Knife           -3.171         0.919          5.197          270            29.999         0              70
  23  Potato          -0.342         1.614          3.530          0              270            0              103
  24  Fork            -4.233         0.791          3.285          0              180            0              102
  25  Bowl            -4.108         0.920          5.418          0              90             0              70
  26  Plate           -0.342         1.581          3.289          0              270            0              103
  27  Lettuce         -0.295         1.165          3.479          0              270            0              103
  28  Bread           -4.234         0.990          3.985          0              0              0              70
  29  Tomato          -0.454         1.127          3.603          0              270            0              103
  30  WineBottle      -3.712         0.069          6.457          0              270            0              96
  31  Spatula         -3.686         0.938          1.724          0              0              0              70
  32  PaperTowelRoll  -3.639         0.172          6.375          0              270            0              96
  33  Cup             -3.748         1.457          5.401          0              90             0              74
  34  Pencil          -0.473         0.747          5.189          0              270            0              49
  35  Pan             -2.454         0.933          2.023          0              240.000        0              58
  36  Pot             -2.924         0.930          2.012          0              0              0              53
  37  SaltShaker      -3.374         0.919          5.182          0              90             0              70
  38  SoapBottle      -4.486         0.923          4.640          0              90             0              70
  39  PepperShaker    -0.443         0.743          6.489          0              270            0              90
  40  ButterKnife     -4.411         0.923          5.418          0              0              0              70
  41  DishSponge      -3.507         0.082          5.268          0              90             0              88
  42  Spoon           -0.503         0.747          5.111          0              270            0              49
  43  Mug             -0.409         0.955          6.557          0              270            0              91
  44  Cabinet         -3.203         1.931          1.777          0              0              0
  45  Cabinet         -3.187         0.390          2.089          0              0              0
  46  Cabinet         -0.637         0.387          6.882          0              180            0
  47  Drawer          -3.797         0.781          1.961          0              0              0
  48  Cabinet         -3.036         0.387          5.029          0              90             0
  49  Drawer          -0.509         0.775          5.268          0              270            0
  50  Drawer          -4.125         0.798          2.499          0              0              0
  51  Cabinet         -0.331         2.249          4.308          0              180            0
  52  CounterTop      -1.872         0.958          1.799          0              0              0
  53  StoveBurner     -2.924         0.924          2.012          0              0              0
  54  Cabinet         -0.331         2.249          6.806          0              180            0
  55  CounterTop      -0.345         0.960          5.603          0              0              0
  56  Cabinet         -3.039         1.935          5.321          0              90             0
  57  Cabinet         -3.922         0.397          2.088          0              0              0
  58  StoveBurner     -2.467         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          5.505          0              180            0
  60  Drawer          -0.509         0.775          4.617          0              270            0
  61  Drawer          -3.509         0.777          5.157          0              180            0
  62  Cabinet         -3.961         0.388          2.878          0              0              0
  63  Cabinet         -3.961         0.388          4.342          0              0              0
  64  Cabinet         -0.637         0.387          5.582          0              180            0
  65  Cabinet         -0.637         0.388          4.299          0              180            0
  66  Cabinet         -0.637         0.388          5.599          0              180            0
  67  StoveBurner     -2.924         0.924          1.712          0              180            0
  68  Drawer          -1.859         0.775          1.961          0              0              0
  69  Cabinet         -0.331         2.249          5.609          0              180            0
  70  CounterTop      -4.260         0.958          4.943          0              90             0
  71  Cabinet         -4.284         1.931          2.226          0              0              0
  72  Cabinet         -0.331         2.249          3.010          0              180            0
  73  Drawer          -3.801         0.777          5.157          0              180            0
  74  Cabinet         -4.112         1.935          5.321          0              90             0
  75  Cabinet         -3.968         0.388          3.662          0              0              0
  76  Drawer          -3.418         0.777          1.961          0              0              0
  77  Drawer          -4.090         0.777          4.661          0              90             0
  78  Faucet          -4.441         0.909          3.288          270            0              0
  79  Cabinet         -0.331         2.249          4.207          0              180            0
  80  Cabinet         -3.961         0.388          2.119          0              0              0
  81  Drawer          -0.509         0.775          5.920          0              270            0
  82  Drawer          -3.193         0.777          5.157          0              180            0
  83  Cabinet         -3.968         0.388          2.894          0              0              0
  84  Cabinet         -3.667         0.387          5.029          0              90             0
  85  StoveBurner     -2.469         0.924          1.712          0              270            0
  86  Cabinet         -1.539         0.388          2.090          0              0              0
  87  Sink            -4.190         0.921          3.279          0              0              0
  88  Cabinet         -3.641         0.387          5.029          0              90             0
  89  Cabinet         -1.583         1.931          1.777          0              0              0
  90  Drawer          -0.509         0.775          6.568          0              270            0
  91  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  92  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  96  GarbageCan      -3.711         -0.030         6.376          0              270            0
  97  Toaster         -3.578         0.912          1.763          0              0              0
  98  Curtains        -4.522         2.252          3.391          90             90             0
  99  Window          -4.868         1.629          3.309          90             270            0
 100  Microwave       -2.693         1.430          1.689          0              0              0
 101  LightSwitch     -1.588         1.169          1.506          0              0              0
 102  SinkBasin       -4.196         0.780          3.276          0              270            0
 103  Fridge          -0.324         -0.001         3.602          0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: go to the counter to the right of the sink | STEP 2: pick up the blue plate from the counter | STEP 3: take the plate to the microwave | STEP 4: warm the plate in the microwave then remove | STEP 5: take the plate to the counter to the left of the stove | STEP 6: put the plate on the counter | END