Task: Microwave a plum from the fridge for 4 seconds

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          1.0            0              270            0
   1  Potato          -2.892         1.182          2.221          0              90             0              65
   2  Ladle           -2.491         0.867          0.203          0              0              0              47
   3  DishSponge      -1.522         0.124          0.323          0              0              0              60
   4  DishSponge      -2.882         1.434          1.049          0              0              0              55
   5  Spoon           -2.724         0.824          0.129          0              90             0              47
   6  Egg             -1.542         0.847          0.073          0              0              0              47
   7  Plate           -2.648         0.126          1.510          0              0              0              58
   8  Plate           -2.724         1.439          0.288          0              45             0              53
   9  Knife           -2.581         0.849          0.871          0              0              0              47
  10  Tomato          -2.726         0.874          1.957          0              90             0              65
  11  SoapBottle      -1.465         0.123          0.440          0              0              0              60
  12  SaltShaker      -2.057         0.120          0.323          0              0              0              59
  13  SaltShaker      -2.115         0.120          0.479          0              0              0              59
  14  PepperShaker    -1.637         0.120          0.323          0              0              0              60
  15  Mug             -0.646         0.888          0.367          0              0              0              75
  16  Mug             -2.504         0.818          0.871          0              0              0              47
  17  Apple           -2.726         1.518          2.045          0              90             0              65
  18  Apple           -2.777         0.994          1.178          0              90             0              66
  19  Apple           -0.262         0.129          2.640          0              0              0              67
  20  Fork            -2.957         0.824          0.352          0              90             0              47
  21  Ladle           -0.371         0.738          0.879          0              45             0              49
  22  Pan             -0.244         0.829          1.684          0              0              0              46
  23  SoapBottle      -1.943         0.123          0.440          0              0              0              59
  24  Pot             -0.518         0.829          2.075          0              180            0              44
  25  Tomato          -2.726         1.193          1.957          0              90             0              65
  26  Potato          -2.671         1.182          2.133          0              90             0              65
  27  SaltShaker      -2.608         0.818          0.129          0              0              0              47
  28  Plate           -0.984         0.828          0.352          0              0              0              47
  29  Spatula         -0.341         0.696          1.194          0              45             0              43
  30  Knife           -2.662         0.819          0.557          90             300.034        0              47
  31  Egg             -0.395         0.080          2.674          0              0              0              67
  32  Cup             -2.258         0.823          0.426          0              0              0              47
  33  ButterKnife     -2.840         0.823          0.203          0              0              0              47
  34  Lettuce         -1.836         0.741          0.238          0              55.910         0              74
  35  PepperShaker    -0.477         0.818          1.326          0              0              0              47
  36  DishSponge      -2.597         0.692          1.438          0              0              0              52
  37  Bread           -2.782         1.491          2.309          0              90             0              65
  38  Spoon           -2.840         0.824          0.203          0              0              0              47
  39  Mug             -2.782         0.819          2.309          0              90             0              65
  40  Bowl            -0.246         0.820          1.214          0              0              0              47
  41  Cabinet         -2.377         2.015          1.720          0              0              0
  42  StoveBurner     -0.244         0.820          2.075          0              180            0
  43  Drawer          -0.402         0.703          1.252          0              0              0
  44  StoveBurner     -0.518         0.820          2.075          0              180            0
  45  Sink            -1.838         0.726          0.343          0              180            0
  46  StoveBurner     -0.244         0.820          1.684          0              0              0
  47  CounterTop      -1.557         0.859          0.277          0              0              0
  48  StoveBurner     -0.518         0.820          1.684          0              0              0
  49  Drawer          -0.404         0.704          0.912          0              0              0
  50  Drawer          -0.861         0.709          0.420          0              0              0
  51  Drawer          -1.133         0.706          0.418          0              0              0
  52  Drawer          -2.589         0.703          1.511          0              0              0
  53  Cabinet         -2.772         1.803          0.508          0              0              0
  54  Cabinet         -2.460         1.803          0.231          0              0              0
  55  Cabinet         -2.781         1.798          0.825          0              0              0
  56  Cabinet         -2.781         1.798          0.815          0              0              0
  57  Cabinet         -2.377         2.009          2.581          0              0              0
  58  Cabinet         -2.442         0.385          1.672          0              0              0
  59  Cabinet         -2.238         0.385          0.564          0              0              0
  60  Cabinet         -1.286         0.385          0.564          0              0              0
  61  Cabinet         -1.262         0.385          0.565          0              0              0
  62  Cabinet         -0.734         0.385          0.565          0              0              0
  63  Cabinet         -0.549         0.385          0.751          0              0              0
  64  Cabinet         -0.549         0.385          1.412          0              0              0
  65  Fridge          -2.782         0.0            2.221          0              0              0
  66  Microwave       -2.794         0.812          1.348          0              90             0
  67  GarbageCan      -0.329         2.205          2.606          0              0              0
  68  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  69  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  70  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  71  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  72  Window          -1.720         1.342          -0.208         90             0              0
  73  Toaster         -0.171         0.812          0.735          0              270            0
  74  SinkBasin       -1.745         0.687          0.295          0              0              0
  75  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  76  LightSwitch     -0.615         1.378          3.0            0              180            0
  77  Faucet          -1.686         0.954          0.176          0              236.223        0
  78  Stool           -1.008         0.008          1.955          0              18.279         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn to the right, head to the fridge | STEP 2: Open the fridge, take the plum out of the fridge | STEP 3: Close the fridge, head to the left | STEP 4: Open the door to the microwave, put the plum in the microwave, Close the door to the microwave,  | STEP 5: run the microwave for 4 seconds, Open the door to the microwave, take the plum out | STEP 6: Close the door to the microwave, put the plum on the counter | END