Task: Take out the blue plate place it in the microwave to put it away again.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.899          4.75           0              270            0
   1  Pencil          -1.610         0.923          1.875          0              0              0              77
   2  Pencil          -0.532         0.746          6.800          0              270            0              99
   3  Potato          -1.860         0.956          1.875          0              0              0              61
   4  ButterKnife     -4.196         0.790          3.285          0              270            0              111
   5  WineBottle      -4.172         0.924          2.183          0              0              0              79
   6  WineBottle      -4.128         0.081          3.556          0              0              0              84
   7  Fork            -4.335         0.924          4.122          0              90             0              79
   8  Fork            -4.26          0.924          4.381          0              90             0              79
   9  Spoon           -0.411         0.926          5.603          0              0              0              64
  10  Spatula         -3.686         0.938          1.875          0              0              0              79
  11  Cup             -4.411         0.922          4.900          0              90             0              79
  12  Cup             -1.676         1.452          1.671          0              0              0              98
  13  Egg             -2.530         1.582          1.731          0              0              0              109
  14  Egg             -3.748         0.104          6.375          0              270            0              105
  15  Plate           -2.013         0.082          1.931          0              0              0              95
  16  Plate           -0.259         1.336          3.850          0              270            0              112
  17  Plate           -3.494         0.924          5.489          0              90             0              79
  18  SoapBottle      -4.312         0.923          2.300          0              90             0              79
  19  Tomato          -0.181         0.982          5.603          0              0              0              64
  20  Tomato          -0.334         0.982          4.615          0              0              0              64
  21  Bowl            -3.807         1.455          5.475          0              90             0              83
  22  Bowl            -4.381         0.920          2.533          0              0              0              79
  23  SaltShaker      -0.488         0.921          5.603          0              0              0              58
  24  Lettuce         -0.301         1.431          3.479          0              270            0              112
  25  Lettuce         -2.026         1.018          1.875          0              0              0              61
  26  Bread           -0.411         1.004          4.944          0              0              0              64
  27  Mug             -1.610         0.918          1.724          0              0              0              61
  28  Apple           -1.777         0.976          1.724          0              0              0              61
  29  Egg             -1.693         0.959          1.8            0              0              0              61
  30  Apple           -3.784         0.122          6.457          0              270            0              105
  31  Knife           -4.033         0.953          4.122          0              90             0              79
  32  Potato          -1.693         0.956          1.875          0              0              0              61
  33  Fork            -0.334         0.925          5.273          0              0              0              64
  34  Bowl            -0.342         1.682          3.975          0              270            0              112
  35  Plate           -0.301         1.581          3.349          0              270            0              112
  36  Lettuce         -4.196         0.886          3.347          0              270            0              111
  37  Bread           -0.488         1.004          5.273          0              0              0              64
  38  Tomato          -0.218         1.742          3.794          0              270            0              112
  39  WineBottle      -0.565         0.926          6.261          0              0              0              64
  40  Spatula         -1.777         0.938          2.026          0              0              0              61
  41  PaperTowelRoll  -2.109         1.027          1.573          0              0              0              61
  42  Cup             -0.488         0.923          4.615          0              0              0              64
  43  Pencil          -3.510         0.745          5.162          0              180            0              70
  44  Pan             -2.469         0.930          1.712          0              270            0              94
  45  Pot             -2.924         0.930          1.712          0              180            0              76
  46  SaltShaker      -4.273         1.452          2.116          0              45             0              80
  47  SoapBottle      -3.639         0.068          6.457          0              270            0              105
  48  PepperShaker    -0.181         0.921          4.615          0              0              0              69
  49  ButterKnife     -3.733         0.923          5.489          0              90             0              79
  50  DishSponge      -4.121         0.790          3.159          0              270            0              111
  51  Spoon           -0.258         0.926          5.603          0              0              0              64
  52  Mug             -0.348         1.065          3.479          0              270            0              112
  53  Cabinet         -3.203         1.931          1.777          0              0              0
  54  Cabinet         -3.187         0.390          2.089          0              0              0
  55  Cabinet         -0.637         0.387          6.882          0              180            0
  56  Drawer          -3.797         0.781          1.961          0              0              0
  57  Cabinet         -3.036         0.387          5.029          0              90             0
  58  Drawer          -0.509         0.775          5.268          0              270            0
  59  Drawer          -4.125         0.798          2.499          0              0              0
  60  Cabinet         -0.331         2.249          4.308          0              180            0
  61  CounterTop      -1.872         0.958          1.799          0              0              0
  62  StoveBurner     -2.924         0.924          2.012          0              0              0
  63  Cabinet         -0.331         2.249          6.806          0              180            0
  64  CounterTop      -0.345         0.960          5.603          0              0              0
  65  Cabinet         -3.039         1.935          5.321          0              90             0
  66  Cabinet         -3.922         0.397          2.088          0              0              0
  67  StoveBurner     -2.467         0.924          2.012          0              0              0
  68  Cabinet         -0.331         2.249          5.505          0              180            0
  69  Drawer          -0.509         0.775          4.617          0              270            0
  70  Drawer          -3.509         0.777          5.157          0              180            0
  71  Cabinet         -3.961         0.388          2.878          0              0              0
  72  Cabinet         -3.961         0.388          4.342          0              0              0
  73  Cabinet         -0.637         0.387          5.582          0              180            0
  74  Cabinet         -0.637         0.388          4.299          0              180            0
  75  Cabinet         -0.637         0.388          5.599          0              180            0
  76  StoveBurner     -2.924         0.924          1.712          0              180            0
  77  Drawer          -1.859         0.775          1.961          0              0              0
  78  Cabinet         -0.331         2.249          5.609          0              180            0
  79  CounterTop      -4.260         0.958          4.943          0              90             0
  80  Cabinet         -4.284         1.931          2.226          0              0              0
  81  Cabinet         -0.331         2.249          3.010          0              180            0
  82  Drawer          -3.801         0.777          5.157          0              180            0
  83  Cabinet         -4.112         1.935          5.321          0              90             0
  84  Cabinet         -3.968         0.388          3.662          0              0              0
  85  Drawer          -3.418         0.777          1.961          0              0              0
  86  Drawer          -4.090         0.777          4.661          0              90             0
  87  Faucet          -4.441         0.909          3.288          270            0              0
  88  Cabinet         -0.331         2.249          4.207          0              180            0
  89  Cabinet         -3.961         0.388          2.119          0              0              0
  90  Drawer          -0.509         0.775          5.920          0              270            0
  91  Drawer          -3.193         0.777          5.157          0              180            0
  92  Cabinet         -3.968         0.388          2.894          0              0              0
  93  Cabinet         -3.667         0.387          5.029          0              90             0
  94  StoveBurner     -2.469         0.924          1.712          0              270            0
  95  Cabinet         -1.539         0.388          2.090          0              0              0
  96  Sink            -4.190         0.921          3.279          0              0              0
  97  Cabinet         -3.641         0.387          5.029          0              90             0
  98  Cabinet         -1.583         1.931          1.777          0              0              0
  99  Drawer          -0.509         0.775          6.568          0              270            0
 100  CoffeeMachine   -0.279         0.912          6.556          0              270            0
 101  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 103  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 104  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 105  GarbageCan      -3.711         -0.030         6.376          0              270            0
 106  Toaster         -3.578         0.912          1.763          0              0              0
 107  Curtains        -4.522         2.252          3.391          90             90             0
 108  Window          -4.868         1.629          3.309          90             270            0
 109  Microwave       -2.693         1.430          1.689          0              0              0
 110  LightSwitch     -1.588         1.169          1.506          0              0              0
 111  SinkBasin       -4.196         0.780          3.276          0              270            0
 112  Fridge          -0.324         -0.001         3.602          0              0              0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: Turn around to walk halfway to the counter and then turn to the right and walk towards the counter next to the stove. | STEP 2: Open the cupboard below the counter and take out the blue plate. | STEP 3: Turn right slightly and then left to bring the plate up to the microwave. | STEP 4: Open the microwave and place the plate inside then shut the door. Open the door and take the plate back out. | STEP 5: Turn to the right and look down. | STEP 6: Open the cupboard straight ahead on the left and place the plate inside and shut the door. | END