Task: Put a chilled cookie into 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           -1.0           0.900          1.25           0              0              0
   1  Potato          -1.912         0.736          0.381          0              0              0              76
   2  Potato          -2.844         0.960          1.125          0              0              0              68
   3  DishSponge      -0.832         0.710          0.378          0              0              0              52
   4  DishSponge      -2.658         0.823          0.789          0              0              0              49
   5  ButterKnife     -1.374         0.823          0.518          0              0              0              49
   6  Fork            -0.296         0.697          0.949          0              270            0              51
   7  Fork            -1.542         0.824          0.518          0              0              0              49
   8  Egg             -1.207         0.847          0.059          0              0              0              49
   9  Egg             -2.044         0.847          0.528          0              0              0              49
  10  Cup             -2.504         0.823          0.707          0              0              0              49
  11  Plate           -2.609         0.126          1.471          0              0              0              60
  12  Plate           -2.057         0.130          0.401          0              0              0              61
  13  Tomato          -2.671         0.874          2.133          0              90             0              67
  14  Tomato          -2.658         0.873          0.953          0              0              0              49
  15  Bowl            -1.522         0.121          0.401          0              0              0              62
  16  PepperShaker    -0.147         0.818          0.352          0              0              0              49
  17  Lettuce         -2.837         1.227          2.309          0              90             0              67
  18  Mug             -2.840         0.818          0.129          0              0              0              49
  19  Mug             -2.844         0.916          1.231          0              90             0              68
  20  Apple           -2.837         1.518          2.045          0              90             0              67
  21  Apple           -0.362         0.129          2.539          0              0              0              69
  22  Fork            -0.363         0.697          0.875          0              90             0              51
  23  Ladle           -0.371         0.738          0.879          0              45             0              51
  24  Pan             -0.244         0.829          2.075          0              180            0              44
  25  SoapBottle      -2.258         0.821          0.352          0              0              0              49
  26  Pot             -0.518         0.829          1.684          0              0              0              50
  27  Tomato          -0.262         0.106          2.674          0              0              0              69
  28  Potato          -2.504         0.862          0.871          0              0              0              49
  29  SaltShaker      -2.358         1.431          0.059          0              0              0              56
  30  Plate           -2.779         1.439          0.233          0              45             0              55
  31  Spatula         -0.314         0.838          0.352          0              180            0              49
  32  Knife           -2.662         0.819          0.557          90             300.034        0              49
  33  Egg             -2.810         0.945          1.443          0              90             0              68
  34  Cup             -2.837         0.825          2.485          0              90             0              67
  35  ButterKnife     -2.840         0.823          0.352          0              0              0              49
  36  Lettuce         -1.836         0.741          0.238          0              55.910         0              76
  37  PepperShaker    -1.885         0.120          0.323          0              0              0              61
  38  DishSponge      -2.581         0.823          0.462          0              0              0              49
  39  Bread           -0.979         0.855          0.249          0              29.999         0              49
  40  Spoon           -1.189         0.699          0.377          0              90             0              53
  41  Mug             -0.646         0.888          0.367          0              0              0              77
  42  Bowl            -2.540         1.845          1.926          0              0              0              43
  43  Cabinet         -2.377         2.015          1.720          0              0              0
  44  StoveBurner     -0.244         0.820          2.075          0              180            0
  45  Drawer          -0.402         0.703          1.252          0              0              0
  46  StoveBurner     -0.518         0.820          2.075          0              180            0
  47  Sink            -1.838         0.726          0.343          0              180            0
  48  StoveBurner     -0.244         0.820          1.684          0              0              0
  49  CounterTop      -1.557         0.859          0.277          0              0              0
  50  StoveBurner     -0.518         0.820          1.684          0              0              0
  51  Drawer          -0.404         0.704          0.912          0              0              0
  52  Drawer          -0.861         0.709          0.420          0              0              0
  53  Drawer          -1.133         0.706          0.418          0              0              0
  54  Drawer          -2.589         0.703          1.511          0              0              0
  55  Cabinet         -2.772         1.803          0.508          0              0              0
  56  Cabinet         -2.460         1.803          0.231          0              0              0
  57  Cabinet         -2.781         1.798          0.825          0              0              0
  58  Cabinet         -2.781         1.798          0.815          0              0              0
  59  Cabinet         -2.377         2.009          2.581          0              0              0
  60  Cabinet         -2.442         0.385          1.672          0              0              0
  61  Cabinet         -2.238         0.385          0.564          0              0              0
  62  Cabinet         -1.286         0.385          0.564          0              0              0
  63  Cabinet         -1.262         0.385          0.565          0              0              0
  64  Cabinet         -0.734         0.385          0.565          0              0              0
  65  Cabinet         -0.549         0.385          0.751          0              0              0
  66  Cabinet         -0.549         0.385          1.412          0              0              0
  67  Fridge          -2.782         0.0            2.221          0              0              0
  68  Microwave       -2.794         0.812          1.348          0              90             0
  69  GarbageCan      -0.329         2.205          2.606          0              0              0
  70  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  71  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  72  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  73  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  74  Window          -1.720         1.342          -0.208         90             0              0
  75  Toaster         -0.171         0.812          0.735          0              270            0
  76  SinkBasin       -1.745         0.687          0.295          0              0              0
  77  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  78  LightSwitch     -0.615         1.378          3.0            0              180            0
  79  Faucet          -1.686         0.954          0.176          0              236.223        0
  80  Stool           -1.008         0.008          1.955          0              18.279         0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn left, and turn left again and head towards the sink, then turn right and go to the counter | STEP 2: Pick up the cookie from the counter | STEP 3: Turn right and go to the fridge | STEP 4: Put the cookie into the fridge and wait a bit, then take the cookie out of the fridge | STEP 5: Turn left and head towards the sink then turn right and go to the microwave | STEP 6: Put the cookie in the microwave | END