Task: Place a chilled apple 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           1.0            0.900          -1.25          0              180            0
   1  Statue          2.900          0.886          0.195          0              180            0              88
   2  Ladle           -1.240         0.929          -0.232         356.853        0              343.945        77
   3  Ladle           -1.063         0.950          0.135          0              0              0              77
   4  DishSponge      -0.623         0.691          -1.935         0              0              0              54
   5  DishSponge      -1.278         0.913          0.083          0              0              0              77
   6  ButterKnife     -0.598         1.131          0.441          0              180            0              80
   7  ButterKnife     -0.375         1.131          0.441          0              0              0              80
   8  Kettle          -1.289         0.957          -1.02          0              0              0              74
   9  Pot             1.945          1.429          -0.365         0              270            0              91
  10  Spatula         -0.420         0.928          0.294          0              270            0              77
  11  Fork            1.419          0.911          -2.098         0              0              0              84
  12  Egg             1.781          1.049          -1.402         0              270            0              89
  13  Egg             -0.152         1.165          0.573          0              0              0              80
  14  Plate           1.63           0.115          -1.397         0              0              0              58
  15  Plate           0.504          1.659          -2.161         0              0              0              64
  16  Knife           -0.152         1.155          0.662          0              0              0              80
  17  SoapBottle      1.963          0.063          0.080          0              0              0              87
  18  Tomato          2.000          1.148          -0.271         0              270            0              91
  19  Tomato          -0.031         0.812          -2.008         0              0              0              94
  20  SaltShaker      3.109          0.548          0.245          0              180            0              90
  21  PepperShaker    -0.152         1.127          0.662          0              0              0              80
  22  Lettuce         2.000          0.893          -0.737         0              270            0              91
  23  Lettuce         1.945          1.175          -0.644         0              270            0              91
  24  Mug             2.694          0.547          0.245          0              180            0              90
  25  Mug             1.878          1.010          -1.192         0              270            0              89
  26  Pan             1.743          0.9            -1.969         0              308.846        0              84
  27  Knife           -1.278         0.937          0.135          0              0              0              77
  28  Bowl            2.000          0.814          -0.458         0              270            0              91
  29  Fork            1.419          0.911          -1.760         0              0              0              84
  30  Cup             0.101          0.750          -1.938         0              0              0              94
  31  Ladle           -0.119         0.732          0.181          0              270            0              83
  32  Apple           1.878          1.064          -1.402         0              270            0              89
  33  Kettle          -1.047         0.953          -2.094         0              0              0              84
  34  Vase            1.914          1.654          -1.737         0              0              0              62
  35  Potato          1.924          0.093          0.195          0              0              0              87
  36  Pot             -1.056         0.956          -1.127         0              0              0              81
  37  Bread           -0.990         0.971          -0.192         0              0              270            77
  38  Plate           1.945          1.426          -0.644         0              270            0              91
  39  Spatula         -1.239         0.926          -1.891         0              0              0              84
  40  PaperTowelRoll  -1.247         1.017          -0.292         0              0              0              77
  41  Vase            -1.356         1.664          -1.663         0              0              0              66
  42  Egg             1.836          0.850          -0.551         0              270            0              91
  43  SoapBottle      1.845          0.063          0.080          0              0              0              87
  44  SaltShaker      -0.589         0.690          -1.846         0              0              0              54
  45  Lettuce         0.071          1.208          0.573          0              0              0              80
  46  PepperShaker    -0.598         1.127          0.706          0              0              0              80
  47  ButterKnife     0.071          1.131          0.485          0              0              0              80
  48  DishSponge      2.591          0.551          0.038          0              180            0              90
  49  Vase            2.979          0.539          0.128          0              0              0              90
  50  Spoon           0.012          0.698          0.139          0              180            0              83
  51  Tomato          -0.203         0.812          -2.118         0              0              0              94
  52  Mug             0.501          0.955          -1.900         0              0              0              100
  53  Statue          -0.634         0.920          0.135          0              0              0              77
  54  Drawer          -0.819         0.75           -1.690         0              0              0
  55  Cabinet         -1.149         2.264          -0.838         0              90             0
  56  StoveBurner     -1.056         0.949          -0.671         0              180            0
  57  Cabinet         1.738          2.019          -2.000         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              0              0
  59  StoveBurner     -1.289         0.949          -0.755         0              180            0
  60  Faucet          -0.157         1.052          -2.196         0              270            0
  61  Cabinet         1.75           2.019          -1.029         0              0              0
  62  Cabinet         1.75           2.019          -1.399         0              0              0
  63  Cabinet         1.179          2.019          -2.0           0              0              0
  64  Cabinet         0.199          2.019          -2.0           0              0              0
  65  Cabinet         -1.100         2.019          -2.0           0              0              0
  66  Cabinet         -1.149         2.019          -1.979         0              0              0
  67  Cabinet         -1.149         2.019          -0.770         0              0              0
  68  Cabinet         -1.149         2.019          0.380          0              0              0
  69  Cabinet         -0.819         0.469          -1.689         0              0              0
  70  Cabinet         -0.839         0.469          -1.664         0              0              0
  71  Cabinet         -0.839         0.469          -0.049         0              0              0
  72  Cabinet         -0.414         0.370          -0.009         0              0              0
  73  Sink            -0.118         0.875          -2.009         0              0              0
  74  StoveBurner     -1.289         0.949          -1.019         0              0              0
  75  Cabinet         0.119          2.264          -2.0           0              0              0
  76  Cabinet         -0.459         2.264          -2.0           0              0              0
  77  CounterTop      -0.665         0.949          0.188          0              0              0
  78  Drawer          -0.449         0.75           -0.010         0              180            0
  79  Cabinet         -0.450         0.469          -0.009         0              0              0
  80  CounterTop      -0.630         1.167          0.573          0              0              0
  81  StoveBurner     -1.056         0.949          -1.126         0              0              0
  82  Cabinet         1.376          0.460          -1.685         0              0              0
  83  Drawer          -0.070         0.75           -0.009         0              180            0
  84  CounterTop      1.159          0.946          -2.013         0              0              0
  85  Cabinet         -1.150         2.264          -1.418         0              90             0
  86  HousePlant      -1.246         1.108          0.606          0              0              0
  87  GarbageCan      1.923          -0.010         0.137          0              0              0
  88  Shelf           2.759          0.880          0.144          0              0              0
  89  Microwave       1.827          0.900          -1.354         0              270            0
  90  Shelf           2.759          0.552          0.145          0              0              0
  91  Fridge          1.975          0.0            -0.537         0              0              0
  92  LightSwitch     0.404          1.297          2.0            0              180            0
  93  Shelf           2.760          0.172          0.145          0              0              0
  94  SinkBasin       -0.129         0.752          -2.007         0              0              0
  95  StoveKnob       -0.873         0.903          -0.827         45             90             0
  96  StoveKnob       -0.873         0.903          -0.676         45             90             0
  97  StoveKnob       -0.873         0.903          -0.966         45             90             0
  98  StoveKnob       -0.873         0.903          -1.123         45             90             0
  99  Toaster         0.840          0.900          -2.057         0              0              0
 100  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 101  ShelvingUnit    2.760          0.006          0.144          0              0              0
 102  Stool           -0.826         0.010          0.908          0              347.513        0
 103  Stool           -0.132         0.010          0.883          0              71.555         0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: turn to your left and face the microwave | STEP 2: open the microwave, remove the red apple | STEP 3: go to the fridge to your left; open the door | STEP 4: place the apple on the shelf next to the egg and shut the door; open the door and remove the apple after several seconds | STEP 5: take the apple back to the microwave; open the door | STEP 6: place the apple in the microwave closest to the mug and shut the door | END