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           0.75           0.900          2.0            0              0              0
   1  Pan             -2.59          0.9            -1.147         0              0              0              70
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              70
   3  CreditCard      -2.843         0.908          -0.948         0              0              0              70
   4  CreditCard      -2.628         0.743          0.163          0              0              0              70
   5  Kettle          -2.622         0.928          -0.711         0              0              0              61
   6  Kettle          -2.553         0.116          -0.038         0              0              0              51
   7  Pot             -2.622         0.928          -0.396         0              0              0              64
   8  Spoon           -1.933         0.912          -1.115         0              90             0              70
   9  Spoon           0.317          1.112          1.248          0              315            0              63
  10  Fork            0.625          1.112          1.556          0              315            0              63
  11  Spatula         0.765          0.926          -1.199         0              0              0              70
  12  Cup             0.198          0.114          -1.130         0              0              0              52
  13  Cup             0.688          0.909          -1.449         0              0              0              70
  14  Plate           -2.847         1.666          0.100          0              0              0              56
  15  Knife           -1.332         0.874          -1.194         0              270            0              80
  16  Tomato          0.920          0.960          -0.948         0              0              0              70
  17  Tomato          -2.728         0.085          1.466          0              0              0              81
  18  PepperShaker    -2.853         0.907          0.021          0              0              0              62
  19  Mug             0.920          0.906          -1.115         0              0              0              70
  20  Apple           0.284          1.154          1.580          0              0              0              63
  21  Fork            0.997          0.911          -1.199         0              90             0              70
  22  Kettle          -2.848         1.796          -0.376         0              0              0              42
  23  CreditCard      0.351          1.108          1.821          0              315            0              63
  24  Bread           -0.401         0.948          -1.291         0              0              0              70
  25  Plate           0.971          1.113          1.210          0              315            0              63
  26  SoapBottle      -0.748         0.899          -1.291         0              315            0              70
  27  Spatula         -1.505         0.866          -1.305         0              90             0              80
  28  Lettuce         -2.660         0.874          0.983          31.046         0              0              82
  29  SaltShaker      -2.695         0.9            -0.132         0              0              0              62
  30  Tomato          -2.680         1.523          1.094          0              90             0              82
  31  PepperShaker    0.044          1.108          1.928          0              315            0              63
  32  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              70
  33  Pot             -2.740         1.475          0.771          0              90             0              82
  34  DishSponge      -1.221         0.841          -1.126         0              41.164         0              80
  35  Egg             0.136          1.136          1.274          0              0              0              63
  36  Spoon           -1.418         0.850          -1.194         0              0              0              80
  37  Knife           -0.017         1.134          1.586          0              315            0              63
  38  Cup             0.284          1.661          -1.322         0              0              0              49
  39  Mug             0.294          1.004          -1.414         0              90             0              83
  40  Bowl            -2.046         0.9            -1.163         0              0              0              70
  41  Cabinet         -2.647         2.075          -0.875         0              0              0
  42  Cabinet         -2.647         2.075          -0.234         0              0              0
  43  Cabinet         -0.824         0.469          -0.907         0              0              0
  44  Cabinet         -1.764         2.009          -1.197         0              0              0
  45  Cabinet         -1.834         2.009          -1.197         0              0              0
  46  Cabinet         -1.850         0.389          -0.897         0              0              0
  47  Cabinet         -1.801         0.469          -0.907         0              0              0
  48  Cabinet         1.115          2.009          -1.197         0              0              0
  49  Cabinet         0.235          2.009          -1.197         0              0              0
  50  Cabinet         1.125          0.470          -0.897         0              0              0
  51  Cabinet         -2.387         0.389          0.375          0              0              0
  52  Cabinet         0.484          0.389          -0.897         0              0              0
  53  Cabinet         -2.625         2.009          -1.197         0              0              0
  54  Cabinet         -2.647         2.009          -0.945         0              0              0
  55  Cabinet         -2.647         2.200          1.664          0              0              0
  56  Cabinet         -2.647         2.009          0.364          0              0              0
  57  Cabinet         0.164          2.009          -1.197         0              0              0
  58  Cabinet         -0.765         2.009          -1.197         0              0              0
  59  Cabinet         -0.834         2.009          -1.197         0              0              0
  60  Cabinet         -2.647         2.200          0.434          0              0              0
  61  StoveBurner     -2.622         0.886          -0.711         0              0              0
  62  CounterTop      -2.699         0.946          0.106          0              0              0
  63  CounterTop      0.908          1.147          0.788          0              315            0
  64  StoveBurner     -2.622         0.886          -0.396         0              0              0
  65  Drawer          -2.026         0.779          -1.082         0              0              0
  66  Sink            -1.328         0.916          -1.225         0              0              0
  67  StoveBurner     -2.822         0.886          -0.711         0              0              0
  68  Drawer          -2.572         0.779          0.099          0              0              0
  69  StoveBurner     -2.822         0.886          -0.396         0              0              0
  70  CounterTop      0.071          0.946          -1.199         0              0              0
  71  Drawer          0.254          0.779          -1.082         0              0              0
  72  LightSwitch     -1.167         1.307          3.0            0              180            0
  73  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  74  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  75  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  76  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  78  Window          0.321          1.449          3.088          90             0              0
  79  Toaster         -2.823         0.899          0.246          0              90             0
  80  SinkBasin       -1.344         0.838          -1.25          0              0              0
  81  GarbageCan      -2.757         1.886          1.466          0              0              0
  82  Fridge          -2.855         0.0            0.851          0              0              0
  83  Microwave       0.283          0.900          -1.331         0              0              0
  84  Stool           1.541          0.010          1.328          0              45             0
  85  Stool           0.983          0.010          1.793          0              47.459         0
  86  Faucet          -1.392         1.136          -1.399         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: turn to face the curved white counter top | STEP 2: pick up the red apple from the white counter | STEP 3: walk straight to face the fridge | STEP 4: open the fridge door, put apple on shelf to the left of the lettuce, close door, let apple chill, open door, pick up apple, close door | STEP 5: turn to walk through kitchen to microwave, face microwave | STEP 6: open microwave oven door, put apple inside microwave, close door | END