Task: put a chilled apple into a microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -0.5           0              180            0
   1  DishSponge      -1.032         1.951          1.364          0              0              0              57
   2  ButterKnife     -1.043         0.937          0.921          0              90             0              66
   3  Fork            -0.876         0.938          0.921          0              0              0              66
   4  Fork            1.310          0.747          0.848          0              90             0              71
   5  Spoon           1.362          0.939          2.214          0              0              0              46
   6  Spoon           -0.792         0.747          0.914          0              180            0              64
   7  Spatula         -0.876         0.952          0.687          0              0              0              66
   8  Spatula         1.275          0.761          2.391          0              90             0              44
   9  Pot             -1.109         0.930          1.470          0              0              0              43
  10  Egg             1.489          0.105          2.977          0              0              0              79
  11  Knife           -0.861         0.768          2.517          0              270            0              42
  12  Tomato          -1.065         1.560          -0.034         0              90             0              73
  13  Tomato          1.439          0.999          2.022          0              0              0              46
  14  SoapBottle      1.418          0.100          0.070          0              0              0              51
  15  Bowl            -0.961         0.934          2.234          0              0              0              41
  16  PepperShaker    1.710          1.497          2.615          0              0              0              60
  17  PepperShaker    -0.791         0.080          1.055          0              0              0              53
  18  Mug             -1.043         0.932          1.154          0              0              0              66
  19  Mug             -0.937         0.560          -0.034         0              90             0              73
  20  Lettuce         -0.793         1.028          1.076          0              0              0              66
  21  SoapBottle      1.390          0.069          2.945          0              0              0              79
  22  Bread           -0.971         1.567          0.118          0              90             0              73
  23  Fork            -0.689         0.747          2.381          0              270            0              42
  24  Tomato          -1.209         0.999          0.921          0              0              0              66
  25  Bowl            -0.971         1.315          0.042          0              90             0              73
  26  Pot             -1.109         0.930          1.865          0              0              0              65
  27  Spatula         1.275          0.761          0.916          0              90             0              71
  28  Knife           -0.896         0.768          1.050          0              270            0              64
  29  SaltShaker      -0.861         0.742          2.177          0              180            0              42
  30  Apple           -1.211         0.987          2.386          0              0              0              41
  31  PepperShaker    -1.043         0.934          0.687          0              0              0              66
  32  ButterKnife     -1.126         0.937          1.154          0              0              0              66
  33  Potato          -1.014         0.598          0.348          0              90             0              73
  34  Plate           -0.804         0.086          2.313          0              0              0              62
  35  DishSponge      -0.876         0.937          0.765          0              0              0              66
  36  Egg             1.556          0.105          2.912          0              0              0              79
  37  Cup             1.314          0.080          2.251          0              0              0              50
  38  Pan             1.378          1.737          0.392          0              270            0              49
  39  Spoon           -0.689         0.747          0.982          0              270            0              64
  40  Mug             1.285          0.932          2.501          0              0              0              46
  41  CounterTop      -0.973         0.973          2.386          0              0              0
  42  Drawer          -0.783         0.774          2.381          0              180            0
  43  StoveBurner     -1.108         0.922          1.470          0              0              0
  44  Drawer          1.370          0.774          2.391          0              0              0
  45  Stool           -0.748         0.008          3.116          0              0              0
  46  CounterTop      1.504          0.973          2.309          0              0              0
  47  Cabinet         1.219          1.388          0.591          0              0              0
  48  Cabinet         1.500          2.113          1.164          0              0              0
  49  Cabinet         1.219          2.010          0.591          0              0              0
  50  Cabinet         1.219          0.388          2.105          0              0              0
  51  Cabinet         1.219          0.553          0.591          0              0              0
  52  Cabinet         -0.913         2.113          1.164          0              0              0
  53  Cabinet         -0.633         0.388          0.627          0              0              0
  54  Cabinet         -0.913         2.050          -0.329         0              0              0
  55  Cabinet         -0.913         2.113          0.583          0              0              0
  56  Cabinet         -0.913         2.113          2.082          0              0              0
  57  Cabinet         -0.913         2.113          1.207          0              0              0
  58  Cabinet         1.500          2.113          2.082          0              0              0
  59  Cabinet         1.500          2.113          1.207          0              0              0
  60  Cabinet         1.500          1.810          2.691          0              0              0
  61  Cabinet         1.500          1.810          2.101          0              0              0
  62  Cabinet         -0.633         0.388          2.105          0              0              0
  63  Cabinet         -0.911         1.810          2.700          0              180            0
  64  Drawer          -0.783         0.774          0.915          0              180            0
  65  StoveBurner     -1.108         0.922          1.865          0              0              0
  66  CounterTop      -0.972         0.973          0.921          0              0              0
  67  Cabinet         1.219          0.388          0.631          0              0              0
  68  Sink            1.544          0.869          1.639          0              180            0
  69  StoveBurner     -0.832         0.922          1.865          0              0              0
  70  StoveBurner     -0.831         0.922          1.470          0              0              0
  71  Drawer          1.370          0.774          0.916          0              0              0
  72  Cabinet         -0.911         1.810          2.111          0              180            0
  73  Fridge          -1.001         0.0            0.119          0              0              0
  74  StoveKnob       -0.648         0.926          1.923          0              270            0
  75  StoveKnob       -0.648         0.926          1.363          0              270            0
  76  StoveKnob       -0.648         0.926          1.513          0              270            0
  77  StoveKnob       -0.648         0.926          1.763          0              270            0
  78  Toaster         -1.002         0.926          2.561          0              90             0
  79  GarbageCan      1.451          -0.029         2.912          0              0              0
  80  Microwave       1.632          1.480          1.645          0              270            0
  81  Window          0.224          1.601          3.509          90             0              0
  82  CoffeeMachine   1.692          0.926          2.453          0              270            0
  83  SinkBasin       1.461          0.833          1.369          0              180            0
  84  LightSwitch     0.451          1.412          -1.674         0              0              0
  85  Faucet          1.707          0.925          1.363          0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: walk to face counter to right of stove | STEP 2: pick up apple from counter | STEP 3: walk left to face fridge | STEP 4: chill apple in fridge, remove apple from fridge | STEP 5: turn around to face microwave | STEP 6: put apple into the microwave | END