Task: Find a glass tray in a cabinet, chill it in the fridge, then put the tray 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           -1.75          0.900          2.75           0              180            0
   1  Ladle           -1.522         0.169          0.401          0              0              0              55
   2  Ladle           -2.540         1.893          2.368          0              0              0              52
   3  DishSponge      -0.860         0.709          0.378          0              0              0              45
   4  Fork            -2.563         0.692          1.547          0              270            0              47
   5  Egg             -1.481         0.721          0.381          0              0              0              69
   6  Knife           -2.957         0.849          0.203          0              90             0              42
   7  Knife           -2.581         0.849          0.789          0              90             0              42
   8  SoapBottle      -2.397         1.433          0.087          0              0              0              49
   9  Bowl            -2.540         1.845          1.978          0              0              0              36
  10  SaltShaker      -2.648         0.116          1.550          0              0              0              53
  11  SaltShaker      -2.834         1.430          0.640          0              0              0              51
  12  PepperShaker    -2.375         0.818          0.352          0              0              0              42
  13  PepperShaker    -0.092         0.818          1.214          0              0              0              42
  14  Apple           -0.362         0.129          2.539          0              0              0              62
  15  Fork            -0.400         0.824          0.658          0              0              0              42
  16  Ladle           -2.057         0.169          0.401          0              0              0              54
  17  Pan             -0.244         0.829          1.684          0              0              0              41
  18  SoapBottle      -1.151         0.821          0.352          0              0              0              42
  19  Pot             -0.518         0.829          2.075          0              180            0              39
  20  Tomato          -2.669         1.181          2.373          0              0              0              60
  21  Potato          -0.295         0.095          2.674          0              0              0              62
  22  SaltShaker      -1.637         0.120          0.284          0              0              0              55
  23  Plate           -2.586         0.813          0.309          0              0              0              42
  24  Spatula         -2.840         0.838          0.278          0              0              0              42
  25  Knife           -2.491         0.849          0.352          0              180            0              42
  26  Egg             -0.429         0.080          2.708          0              0              0              62
  27  Cup             -0.400         0.823          0.992          0              0              0              42
  28  ButterKnife     -2.211         0.823          0.528          0              0              0              42
  29  Lettuce         -1.836         0.741          0.238          0              55.910         0              69
  30  PepperShaker    -2.599         1.430          0.217          0              45             0              48
  31  DishSponge      -2.724         0.823          0.129          0              0              0              42
  32  Bread           -0.979         0.855          0.249          0              29.999         0              42
  33  Spoon           -0.394         0.695          1.288          0              0              0              38
  34  Mug             -0.646         0.888          0.367          0              0              0              70
  35  Bowl            -0.397         0.115          0.914          0              0              0              58
  36  Cabinet         -2.377         2.015          1.720          0              0              0
  37  StoveBurner     -0.244         0.820          2.075          0              180            0
  38  Drawer          -0.402         0.703          1.252          0              0              0
  39  StoveBurner     -0.518         0.820          2.075          0              180            0
  40  Sink            -1.838         0.726          0.343          0              180            0
  41  StoveBurner     -0.244         0.820          1.684          0              0              0
  42  CounterTop      -1.557         0.859          0.277          0              0              0
  43  StoveBurner     -0.518         0.820          1.684          0              0              0
  44  Drawer          -0.404         0.704          0.912          0              0              0
  45  Drawer          -0.861         0.709          0.420          0              0              0
  46  Drawer          -1.133         0.706          0.418          0              0              0
  47  Drawer          -2.589         0.703          1.511          0              0              0
  48  Cabinet         -2.772         1.803          0.508          0              0              0
  49  Cabinet         -2.460         1.803          0.231          0              0              0
  50  Cabinet         -2.781         1.798          0.825          0              0              0
  51  Cabinet         -2.781         1.798          0.815          0              0              0
  52  Cabinet         -2.377         2.009          2.581          0              0              0
  53  Cabinet         -2.442         0.385          1.672          0              0              0
  54  Cabinet         -2.238         0.385          0.564          0              0              0
  55  Cabinet         -1.286         0.385          0.564          0              0              0
  56  Cabinet         -1.262         0.385          0.565          0              0              0
  57  Cabinet         -0.734         0.385          0.565          0              0              0
  58  Cabinet         -0.549         0.385          0.751          0              0              0
  59  Cabinet         -0.549         0.385          1.412          0              0              0
  60  Fridge          -2.782         0.0            2.221          0              0              0
  61  Microwave       -2.794         0.812          1.348          0              90             0
  62  GarbageCan      -0.329         2.205          2.606          0              0              0
  63  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  64  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  65  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  66  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  67  Window          -1.720         1.342          -0.208         90             0              0
  68  Toaster         -0.171         0.812          0.735          0              270            0
  69  SinkBasin       -1.745         0.687          0.295          0              0              0
  70  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  71  LightSwitch     -0.615         1.378          3.0            0              180            0
  72  Faucet          -1.686         0.954          0.176          0              236.223        0
  73  Stool           -1.008         0.008          1.955          0              18.279         0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Walk straight towards the sink then turn left and walk towards the oven | STEP 2: Look down and open the second cabinet door from the left of the oven. PIck up the glass tray inside the cabinet and close the door | STEP 3: Turn left then left again and walk towards the fridge | STEP 4: Open the fridge door and place the glass tray on the second shelf from the top. Close the fridge door, then reopen it and retrieve the tray. Close the fridge door again | STEP 5: Turn left and walk straight ahead. Turn right and face the microwave. | STEP 6: Open the microwave door, put the tray in and close the microwave door | END