Task: put a chilled apple on to the plate in the microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          1.25           0              270            0
   1  Potato          -0.730         0.947          0.870          0              0              0              42
   2  DishSponge      -2.277         0.114          0.386          0              0              0              67
   3  ButterKnife     -0.341         0.910          0.647          0              0              0              42
   4  ButterKnife     1.380          0.922          -1.212         0              225            0              56
   5  Kettle          -2.313         0.116          1.319          0              0              0              48
   6  Pot             1.691          0.929          -0.335         0              0              0              50
   7  Cup             1.283          0.917          -1.169         0              225            0              56
   8  Plate           -2.289         0.913          0.631          0              0              0              70
   9  Knife           -2.318         0.799          1.417          0              270            0              73
  10  Tomato          -2.538         0.953          0.331          0              0              0              70
  11  SoapBottle      -2.206         0.912          1.830          0              0              0              70
  12  SoapBottle      -2.567         1.940          -0.578         0              0              0              64
  13  Bowl            -2.645         1.534          2.695          0              0              0              46
  14  Bowl            -2.455         0.908          1.230          0              0              0              70
  15  SaltShaker      1.598          0.906          0.376          0              90             0              51
  16  Lettuce         -2.621         0.994          0.631          0              0              0              70
  17  Bread           1.513          0.996          -0.726         0              0              0              52
  18  Bread           -2.538         0.996          1.530          0              0              0              70
  19  Pan             0.0            0.9            0.948          0              29.999         0              42
  20  Knife           -2.227         0.798          1.417          0              270            0              73
  21  Apple           1.598          0.972          -0.945         0              45             0              52
  22  Bowl            0.516          1.660          -1.729         0              90             0              49
  23  Fork            -0.341         0.911          0.423          0              0              0              42
  24  Bread           -2.621         0.996          0.931          0              0              0              70
  25  Plate           1.734          1.659          0.239          0              0              0              61
  26  Egg             1.423          0.949          -1.309         0              225            0              56
  27  Kettle          -2.605         1.538          0.052          0              0              0              65
  28  Potato          -2.559         0.631          -1.051         0              90             0              74
  29  SaltShaker      -2.384         0.109          0.593          0              0              0              67
  30  Lettuce         -2.289         0.994          0.931          0              0              0              70
  31  Cup             0.765          0.908          -1.478         0              45             0              52
  32  SoapBottle      -2.704         0.912          0.331          0              0              0              70
  33  Spatula         -0.601         0.925          0.647          0              0              0              42
  34  PaperTowelRoll  -2.455         1.015          0.031          0              0              0              70
  35  ButterKnife     -2.289         0.910          0.031          0              0              0              70
  36  PepperShaker    1.342          0.905          -0.684         0              0              0              52
  37  DishSponge      -2.257         0.772          0.809          0              0              0              47
  38  Pot             1.412          0.929          -0.335         0              0              0              43
  39  Spoon           1.684          0.912          0.435          0              0              0              51
  40  Tomato          -2.439         1.342          -0.602         0              90             0              74
  41  Mug             0.464          0.955          -1.593         0              0              0              52
  42  CounterTop      -0.360         0.946          1.093          0              0              0
  43  StoveBurner     1.412          0.923          -0.335         0              0              0
  44  StoveKnob       1.878          1.093          0.018          287.989        90             0
  45  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  46  Cabinet         -2.446         1.948          2.924          0              0              0
  47  Drawer          -2.276         0.792          0.902          0              0              0
  48  Cabinet         -2.145         0.402          1.578          0              0              0
  49  Cabinet         0.149          2.008          -1.603         0              90             0
  50  StoveBurner     1.691          0.923          -0.335         0              0              0
  51  CounterTop      1.585          0.946          0.405          0              0              0
  52  CounterTop      0.474          0.946          -1.625         0              0              0
  53  StoveBurner     1.691          0.923          0.064          0              0              0
  54  Cabinet         -2.446         1.948          1.687          0              0              0
  55  Cabinet         -2.446         1.948          1.640          0              0              0
  56  Sink            1.381          0.810          -1.271         0              225            0
  57  StoveKnob       1.878          1.093          0.150          287.989        90             0
  58  Cabinet         -2.145         0.402          -0.236         0              0              0
  59  Drawer          -2.276         0.792          0.437          0              0              0
  60  Drawer          -2.276         0.792          -0.027         0              0              0
  61  Cabinet         1.572          2.008          0.474          0              0              0
  62  Cabinet         1.572          2.008          -0.775         0              0              0
  63  Cabinet         -2.445         2.148          -1.275         0              0              0
  64  Cabinet         -2.446         2.148          -0.284         0              0              0
  65  Cabinet         -2.446         1.948          0.355          0              0              0
  66  Cabinet         -2.446         1.948          0.405          0              0              0
  67  Cabinet         -2.145         0.402          0.644          0              0              0
  68  Cabinet         -2.145         0.402          0.695          0              0              0
  69  Cabinet         -2.285         1.968          -1.325         0              180            0
  70  CounterTop      -1.485         0.946          1.319          0              0              0
  71  StoveBurner     1.411          0.923          0.064          0              0              0
  72  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  73  Drawer          -2.276         0.792          1.368          0              0              0
  74  Fridge          -2.475         0.0            -0.782         0              90             0
  75  LightSwitch     -0.929         1.350          -1.950         0              0              0
  76  Toaster         -2.564         0.900          1.876          0              90             0
  77  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  78  Window          1.508          1.534          -1.496         90             135            0
  79  Window          1.973          1.521          1.121          90             90             0
  80  SinkBasin       1.149          0.753          -1.380         0              225            0
  81  GarbageCan      1.646          -0.000         0.679          0              0              0
  82  Microwave       -2.580         0.900          2.440          0              90             0
  83  Stool           0.439          0.010          0.747          0              0              0
  84  Stool           -2.303         0.010          1.839          0              0              0
  85  Faucet          1.235          1.138          -1.473         0              225            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: turn to the left and move to the counter to the left of the sink and to the right of the stove | STEP 2: pick up the apple from the counter | STEP 3: turn around and move forward to the refrigerator | STEP 4: open the fridge door, put the apple on to the top shelf of the fridge, close the door for a few seconds, open the door, remove the apple and close the door | STEP 5: turn to the right and move forward to the end of the counter on the left with the microwave, turn to face the microwave | STEP 6: open the microwave door, put the apple in to the microwave on the plate and close the door | END