Task: Heat up an apple in the microwave to put in the freezer.

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          2.0            0              270            0
   1  Potato          -2.559         0.631          -0.693         0              90             0              78
   2  DishSponge      -2.318         0.773          -0.025         0              0              0              64
   3  ButterKnife     1.684          0.911          0.494          0              0              0              55
   4  Kettle          -2.564         1.538          2.477          0              270            0              50
   5  Fork            -2.372         0.911          0.031          0              0              0              74
   6  Spoon           1.256          0.920          -1.196         0              225            0              60
   7  Spoon           1.391          0.919          -1.061         0              225            0              60
   8  Spatula         -0.211         0.925          1.317          0              270            0              46
   9  Pot             -0.211         0.914          1.540          0              0              0              46
  10  Cup             -2.578         1.298          -0.885         0              90             0              78
  11  Plate           1.735          1.666          -0.550         0              0              0              66
  12  Plate           -2.621         0.913          1.230          0              0              0              74
  13  Knife           -2.318         0.799          0.391          0              90             0              63
  14  Knife           -2.206         0.936          0.031          0              90             0              74
  15  Tomato          -2.613         0.220          -1.123         0              90             0              78
  16  Tomato          -2.455         0.953          0.631          0              0              0              74
  17  SoapBottle      1.353          0.920          -1.239         0              225            0              60
  18  Bowl            -2.609         1.930          -1.034         0              0              0              67
  19  SaltShaker      1.807          1.651          0.018          0              0              0              65
  20  Bread           -2.455         0.996          0.931          0              0              0              74
  21  Bread           0.048          0.996          1.317          0              0              0              46
  22  Mug             0.464          0.955          -1.593         0              0              0              56
  23  Pan             1.691          0.929          -0.335         0              0              0              54
  24  Knife           -2.538         0.936          0.931          0              0              0              74
  25  Apple           1.729          0.246          0.706          0              0              0              85
  26  Bowl            -2.313         0.112          1.423          0              0              0              52
  27  Fork            -2.379         0.773          0.439          0              90             0              63
  28  Bread           -2.538         0.996          1.530          0              0              0              74
  29  Plate           -0.601         0.913          1.094          0              0              0              46
  30  Egg             -2.390         0.240          -1.012         0              90             0              78
  31  Kettle          1.412          0.929          -0.335         0              0              0              47
  32  Potato          0.845          0.947          -1.604         0              45             0              56
  33  SaltShaker      -2.645         1.532          1.410          0              0              0              59
  34  Lettuce         -0.601         0.994          1.764          0              0              0              46
  35  Cup             1.329          0.916          -1.053         0              225            0              60
  36  SoapBottle      -0.471         0.912          1.540          0              0              0              46
  37  Spatula         -2.318         0.788          1.322          0              90             0              77
  38  PaperTowelRoll  -0.730         1.015          1.764          0              0              0              46
  39  ButterKnife     -2.289         0.910          0.331          0              0              0              63
  40  PepperShaker    -2.680         1.933          -0.522         0              0              0              68
  41  DishSponge      1.562          0.184          0.651          0              0              0              85
  42  Pot             1.691          0.929          0.064          0              0              0              57
  43  Spoon           -0.341         0.912          1.094          0              0              0              46
  44  Tomato          -2.439         1.342          -0.696         0              90             0              78
  45  Mug             -2.384         0.109          0.386          0              90             0              71
  46  CounterTop      -0.360         0.946          1.093          0              0              0
  47  StoveBurner     1.412          0.923          -0.335         0              0              0
  48  StoveKnob       1.878          1.093          0.018          287.989        90             0
  49  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  50  Cabinet         -2.446         1.948          2.924          0              0              0
  51  Drawer          -2.276         0.792          0.902          0              0              0
  52  Cabinet         -2.145         0.402          1.578          0              0              0
  53  Cabinet         0.149          2.008          -1.603         0              90             0
  54  StoveBurner     1.691          0.923          -0.335         0              0              0
  55  CounterTop      1.585          0.946          0.405          0              0              0
  56  CounterTop      0.474          0.946          -1.625         0              0              0
  57  StoveBurner     1.691          0.923          0.064          0              0              0
  58  Cabinet         -2.446         1.948          1.687          0              0              0
  59  Cabinet         -2.446         1.948          1.640          0              0              0
  60  Sink            1.381          0.810          -1.271         0              225            0
  61  StoveKnob       1.878          1.093          0.150          287.989        90             0
  62  Cabinet         -2.145         0.402          -0.236         0              0              0
  63  Drawer          -2.276         0.792          0.437          0              0              0
  64  Drawer          -2.276         0.792          -0.027         0              0              0
  65  Cabinet         1.572          2.008          0.474          0              0              0
  66  Cabinet         1.572          2.008          -0.775         0              0              0
  67  Cabinet         -2.445         2.148          -1.275         0              0              0
  68  Cabinet         -2.446         2.148          -0.284         0              0              0
  69  Cabinet         -2.446         1.948          0.355          0              0              0
  70  Cabinet         -2.446         1.948          0.405          0              0              0
  71  Cabinet         -2.145         0.402          0.644          0              0              0
  72  Cabinet         -2.145         0.402          0.695          0              0              0
  73  Cabinet         -2.285         1.968          -1.325         0              180            0
  74  CounterTop      -1.485         0.946          1.319          0              0              0
  75  StoveBurner     1.411          0.923          0.064          0              0              0
  76  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  77  Drawer          -2.276         0.792          1.368          0              0              0
  78  Fridge          -2.475         0.0            -0.782         0              90             0
  79  LightSwitch     -0.929         1.350          -1.950         0              0              0
  80  Toaster         -2.564         0.900          1.876          0              90             0
  81  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  82  Window          1.508          1.534          -1.496         90             135            0
  83  Window          1.973          1.521          1.121          90             90             0
  84  SinkBasin       1.149          0.753          -1.380         0              225            0
  85  GarbageCan      1.646          -0.000         0.679          0              0              0
  86  Microwave       -2.580         0.900          2.440          0              90             0
  87  Stool           0.439          0.010          0.747          0              0              0
  88  Stool           -2.303         0.010          1.839          0              0              0
  89  Faucet          1.235          1.138          -1.473         0              225            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn around to walk around the kitchen island to reach the trash can. | STEP 2: Pick up the apple out of the trash can. | STEP 3: Turn left to walk to the microwave. | STEP 4: Heat up the apple in the microwave, removing it afterwards. | STEP 5: Turn left to walk to the fridge. | STEP 6: Put the apple in the freezer. | END