Task: heat the fruit from the refrigerator in the microwave, put in on the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          -2.5           0              180            0
   1  Pan             -3.565         0.892          -0.290         0              0              0              76
   2  Pan             -0.222         0.961          -2.243         0              0              0              58
   3  Potato          -4.242         0.723          -0.187         0              0              0              74
   4  Potato          -2.452         0.131          -3.604         0              0              0              64
   5  Spatula         -2.761         0.909          -0.290         0              270            0              76
   6  Egg             -0.434         1.529          -0.413         0              270            0              69
   7  Cup             -1.056         0.943          -3.795         0              45             0              39
   8  Knife           -3.755         0.785          -3.043         0              64.125         0              75
   9  SoapBottle      -4.122         0.688          -0.248         0              270            0              74
  10  Bowl            -2.560         0.892          -0.462         0              270            0              76
  11  Bowl            -0.394         0.939          -1.538         0              0              0              57
  12  Bread           -3.163         0.976          -0.204         0              270            0              76
  13  Bread           -2.560         0.976          -0.204         0              270            0              76
  14  Lettuce         -3.314         0.851          -3.241         0              244.125        0              75
  15  PepperShaker    -0.473         0.937          -1.406         0              0              0              57
  16  Apple           -3.284         0.821          -2.949         0              244.125        0              75
  17  Apple           -0.201         1.636          -2.043         0              270            0              71
  18  SoapBottle      -2.761         0.892          -0.204         0              270            0              76
  19  Pot             -0.437         0.961          -1.845         0              180            0              40
  20  Fork            -0.473         0.941          -1.581         0              0              0              57
  21  Cup             -3.954         0.760          -3.337         0              109.125        0              75
  22  Tomato          -4.242         0.741          -0.430         0              0              0              74
  23  Pan             -0.217         0.958          -2.215         0              45             0              58
  24  Plate           -0.624         0.827          -3.473         0              315            0              68
  25  Bread           -4.002         0.772          -0.369         0              0              0              74
  26  Spatula         -3.342         0.775          -3.185         0              64.125         0              75
  27  Knife           -3.882         0.716          -0.369         0              90             0              74
  28  SaltShaker      -0.397         0.938          -2.670         0              0              0              39
  29  PepperShaker    -2.560         0.890          -0.633         0              270            0              76
  30  ButterKnife     -2.560         0.894          -0.548         0              270            0              76
  31  Apple           -3.671         0.821          -3.465         0              199.125        0              75
  32  DishSponge      -4.242         0.690          -0.308         0              0              0              74
  33  Potato          -0.417         1.318          -0.762         0              270            0              69
  34  Egg             -0.471         0.854          -3.163         0              315            0              68
  35  Spoon           -1.154         0.754          -3.505         0              0              0              45
  36  Lettuce         -0.359         1.579          -0.994         0              270            0              69
  37  Mug             -0.359         1.483          -0.529         0              270            0              69
  38  Bowl            -1.248         0.940          -3.751         0              0              0              39
  39  CounterTop      -1.937         0.977          -3.673         0              0              0
  40  StoveBurner     -0.437         0.924          -1.845         0              180            0
  41  StoveBurner     -0.222         0.924          -1.845         0              180            0
  42  StoveBurner     -0.437         0.924          -2.243         0              0              0
  43  Drawer          -0.500         0.779          -1.450         0              0              0
  44  Drawer          -0.481         0.777          -2.739         0              0              0
  45  Drawer          -1.154         0.782          -3.499         0              0              0
  46  Cabinet         -0.337         2.110          -0.390         0              0              0
  47  Cabinet         -0.337         2.110          -1.272         0              0              0
  48  Cabinet         -0.337         2.110          -1.631         0              0              0
  49  Cabinet         -0.337         2.110          -2.497         0              0              0
  50  Cabinet         -0.337         1.891          -1.286         0              0              0
  51  Cabinet         -0.346         1.891          -3.293         0              0              0
  52  Cabinet         -0.629         0.388          -2.513         0              0              0
  53  Cabinet         -0.633         0.388          -3.008         0              0              0
  54  Cabinet         -1.010         0.388          -3.368         0              0              0
  55  Cabinet         -0.629         0.388          -1.614         0              0              0
  56  Cabinet         -0.327         1.886          -2.513         0              0              0
  57  CounterTop      -0.326         0.976          -1.450         0              0              0
  58  StoveBurner     -0.222         0.924          -2.243         0              0              0
  59  Sink            -0.600         0.929          -3.388         0              0              0
  60  StoveKnob       -0.617         0.899          -1.833         315            90             180
  61  StoveKnob       -0.617         0.899          -2.129         315            90             180
  62  StoveKnob       -0.617         0.899          -2.289         315            90             180
  63  StoveKnob       -0.617         0.899          -1.975         315            90             180
  64  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  65  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  66  Window          -1.389         1.610          -4.113         90             0              0
  67  LightSwitch     -4.372         1.493          -1.031         0              90             0
  68  SinkBasin       -0.614         0.802          -3.384         0              315            0
  69  Fridge          -0.314         0.0            -0.646         0              0              0
  70  Toaster         -1.970         0.930          -3.763         0              0              0
  71  Microwave       -0.216         1.470          -2.054         0              270            0
  72  Blinds          -1.373         2.205          -3.961         0              0              0
  73  Faucet          -0.393         0.930          -3.614         270            225            0
  74  SideTable       -4.030         0.002          -0.301         0              185.034        0
  75  DiningTable     -3.586         0.000          -3.258         0              0              0
  76  DiningTable     -3.224         -0.003         -0.453         0              0              0
  77  Shelf           -4.030         0.259          -0.301         0              185.034        0
  78  Shelf           -4.030         0.489          -0.301         0              185.034        0
  79  EastWall
  80  EastWall
  81  SouthWall

Plan:
STEP 1: Turn around, walk to the refrigerator on the right | STEP 2: Take the fruit out of the refrigerator | STEP 3: turn right, walk to the stove on the left | STEP 4: put the fruit in the microwave above, heat the fruit, take the fruit out | STEP 5: turn around, walk to the door, turn right, walk to the white table | STEP 6: Put the fruit down on the shelf by the table | END