Task: put a chilled glass dish into the microwave oven

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          2.5            0              180            0
   1  DishSponge      -2.057         0.124          0.362          0              0              0              52
   2  DishSponge      -0.400         0.823          1.326          0              0              0              40
   3  ButterKnife     -2.211         0.823          0.528          0              0              0              40
   4  Fork            -2.496         0.692          1.474          0              90             0              45
   5  Fork            -1.709         0.824          0.528          0              0              0              40
   6  Spoon           -1.077         0.699          0.377          0              90             0              44
   7  Spoon           -0.147         0.824          0.426          0              0              0              40
   8  Spatula         -2.735         0.838          0.953          0              270            0              40
   9  Egg             -0.429         0.080          2.539          0              0              0              60
  10  Bowl            -2.810         0.918          1.231          0              90             0              59
  11  SaltShaker      -0.477         0.818          0.770          0              0              0              40
  12  Apple           -2.608         0.896          0.352          0              0              0              40
  13  Fork            -2.563         0.693          1.474          0              90             0              45
  14  Ladle           -0.371         0.738          0.879          0              45             0              42
  15  Pan             -0.244         0.829          2.075          0              180            0              35
  16  SoapBottle      -1.151         0.821          0.352          0              0              0              40
  17  Pot             -0.531         0.822          2.096          0              0              0              37
  18  Tomato          -0.246         0.873          1.214          0              0              0              40
  19  Potato          -0.262         0.095          2.640          0              0              0              60
  20  SaltShaker      -2.724         0.818          0.055          0              0              0              40
  21  Plate           -2.724         1.439          0.288          0              45             0              46
  22  Spatula         -0.341         0.696          1.194          0              45             0              36
  23  Knife           -2.375         0.849          0.352          0              0              0              40
  24  Egg             -0.295         0.080          2.572          0              0              0              60
  25  Cup             -1.481         0.702          0.295          0              0              0              67
  26  ButterKnife     -2.493         0.812          0.476          0              50.734         0              40
  27  Lettuce         -1.836         0.741          0.238          0              55.910         0              67
  28  PepperShaker    -0.400         0.818          1.214          0              90             0              40
  29  DishSponge      -0.362         0.056          2.640          0              0              0              60
  30  Bread           -0.979         0.855          0.249          0              29.999         0              40
  31  Spoon           -0.777         0.711          0.378          0              90             0              43
  32  Mug             -2.504         0.818          0.953          0              0              0              40
  33  Bowl            -2.648         0.118          1.510          0              0              0              51
  34  Cabinet         -2.377         2.015          1.720          0              0              0
  35  StoveBurner     -0.244         0.820          2.075          0              180            0
  36  Drawer          -0.402         0.703          1.252          0              0              0
  37  StoveBurner     -0.518         0.820          2.075          0              180            0
  38  Sink            -1.838         0.726          0.343          0              180            0
  39  StoveBurner     -0.244         0.820          1.684          0              0              0
  40  CounterTop      -1.557         0.859          0.277          0              0              0
  41  StoveBurner     -0.518         0.820          1.684          0              0              0
  42  Drawer          -0.404         0.704          0.912          0              0              0
  43  Drawer          -0.861         0.709          0.420          0              0              0
  44  Drawer          -1.133         0.706          0.418          0              0              0
  45  Drawer          -2.589         0.703          1.511          0              0              0
  46  Cabinet         -2.772         1.803          0.508          0              0              0
  47  Cabinet         -2.460         1.803          0.231          0              0              0
  48  Cabinet         -2.781         1.798          0.825          0              0              0
  49  Cabinet         -2.781         1.798          0.815          0              0              0
  50  Cabinet         -2.377         2.009          2.581          0              0              0
  51  Cabinet         -2.442         0.385          1.672          0              0              0
  52  Cabinet         -2.238         0.385          0.564          0              0              0
  53  Cabinet         -1.286         0.385          0.564          0              0              0
  54  Cabinet         -1.262         0.385          0.565          0              0              0
  55  Cabinet         -0.734         0.385          0.565          0              0              0
  56  Cabinet         -0.549         0.385          0.751          0              0              0
  57  Cabinet         -0.549         0.385          1.412          0              0              0
  58  Fridge          -2.782         0.0            2.221          0              0              0
  59  Microwave       -2.794         0.812          1.348          0              90             0
  60  GarbageCan      -0.329         2.205          2.606          0              0              0
  61  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  62  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  63  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  64  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  65  Window          -1.720         1.342          -0.208         90             0              0
  66  Toaster         -0.171         0.812          0.735          0              270            0
  67  SinkBasin       -1.745         0.687          0.295          0              0              0
  68  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  69  LightSwitch     -0.615         1.378          3.0            0              180            0
  70  Faucet          -1.686         0.954          0.176          0              236.223        0
  71  Stool           -1.008         0.008          1.955          0              18.279         0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: walk through kitchen, turn right to face microwave | STEP 2: open microwave door, pick up glass dish from inside microwave, close the door | STEP 3: walk right to face the fridge | STEP 4: open fridge door, place dish on second shelf from the top, close the door, wait for dish to be chilled, open fridge door, pick up dish from inside fridge, close the door | STEP 5: walk left to face microwave | STEP 6: open microwave door, place glass dish inside microwave, close the door | END