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           0.5            0.900          1.5            0              180            0
   1  Potato          -1.012         0.847          0.118          0              90             0              77
   2  Potato          -0.877         1.351          0.195          0              90             0              77
   3  DishSponge      1.459          1.746          0.168          0              0              0              53
   4  DishSponge      1.439          0.937          2.022          0              0              0              50
   5  Spoon           -0.827         0.747          0.847          0              180            0              68
   6  Spatula         -0.793         0.952          0.843          0              0              0              70
   7  Spatula         -0.710         0.952          0.998          0              90             0              70
   8  Pot             -1.109         0.930          1.470          0              0              0              47
   9  Plate           -0.791         0.088          0.985          0              0              0              57
  10  Plate           -1.126         0.942          0.843          0              0              0              70
  11  Knife           1.275          0.768          0.916          0              90             0              75
  12  Knife           -0.896         0.768          2.381          0              270            0              46
  13  Tomato          -1.065         1.560          0.348          0              90             0              77
  14  Tomato          -0.899         0.627          -0.110         0              90             0              77
  15  Bowl            1.340          1.743          0.066          0              0              0              53
  16  Bowl            -1.041         1.497          2.553          0              180            0              67
  17  SaltShaker      1.385          1.068          -0.029         0              0              0              51
  18  PepperShaker    -0.712         0.934          2.159          0              0              0              46
  19  Mug             -1.065         1.494          -0.034         0              90             0              77
  20  Mug             -0.860         0.560          0.042          0              90             0              77
  21  Apple           1.523          0.119          2.945          0              0              0              83
  22  Apple           1.587          1.645          1.756          0              270            0              84
  23  Apple           -0.793         0.987          1.076          0              0              0              70
  24  Lettuce         1.460          1.014          1.678          5.121          59.325         356.525        72
  25  SoapBottle      -1.001         1.500          2.275          0              180            0              76
  26  Bread           -0.923         0.990          2.265          0              302.470        0              45
  27  Fork            1.592          0.938          1.007          0              0              0              50
  28  Tomato          -1.018         1.560          0.118          0              90             0              77
  29  Bowl            1.669          0.934          0.873          0              0              0              50
  30  Pot             -1.109         0.930          1.865          0              0              0              69
  31  Spatula         -0.960         0.952          0.998          0              90             0              70
  32  Knife           -0.861         0.768          2.245          0              90             0              46
  33  SaltShaker      1.269          1.068          0.376          0              0              0              50
  34  Apple           1.390          0.119          2.977          0              0              0              83
  35  PepperShaker    -1.044         0.934          2.159          0              0              0              46
  36  ButterKnife     1.376          0.736          2.234          0              29.999         0              48
  37  Potato          -1.126         0.970          1.154          0              0              0              70
  38  Plate           1.666          1.508          0.965          0              0              0              52
  39  DishSponge      -0.724         0.081          2.528          0              0              0              66
  40  Egg             -1.065         1.534          -0.110         0              90             0              77
  41  Cup             1.585          1.947          1.504          0              0              0              63
  42  Pan             1.378          1.737          0.392          0              270            0              53
  43  Spoon           1.310          0.747          0.984          0              90             0              75
  44  Mug             1.422          0.838          1.369          0              0              0              87
  45  CounterTop      -0.973         0.973          2.386          0              0              0
  46  Drawer          -0.783         0.774          2.381          0              180            0
  47  StoveBurner     -1.108         0.922          1.470          0              0              0
  48  Drawer          1.370          0.774          2.391          0              0              0
  49  Stool           -0.748         0.008          3.116          0              0              0
  50  CounterTop      1.504          0.973          2.309          0              0              0
  51  Cabinet         1.219          1.388          0.591          0              0              0
  52  Cabinet         1.500          2.113          1.164          0              0              0
  53  Cabinet         1.219          2.010          0.591          0              0              0
  54  Cabinet         1.219          0.388          2.105          0              0              0
  55  Cabinet         1.219          0.553          0.591          0              0              0
  56  Cabinet         -0.913         2.113          1.164          0              0              0
  57  Cabinet         -0.633         0.388          0.627          0              0              0
  58  Cabinet         -0.913         2.050          -0.329         0              0              0
  59  Cabinet         -0.913         2.113          0.583          0              0              0
  60  Cabinet         -0.913         2.113          2.082          0              0              0
  61  Cabinet         -0.913         2.113          1.207          0              0              0
  62  Cabinet         1.500          2.113          2.082          0              0              0
  63  Cabinet         1.500          2.113          1.207          0              0              0
  64  Cabinet         1.500          1.810          2.691          0              0              0
  65  Cabinet         1.500          1.810          2.101          0              0              0
  66  Cabinet         -0.633         0.388          2.105          0              0              0
  67  Cabinet         -0.911         1.810          2.700          0              180            0
  68  Drawer          -0.783         0.774          0.915          0              180            0
  69  StoveBurner     -1.108         0.922          1.865          0              0              0
  70  CounterTop      -0.972         0.973          0.921          0              0              0
  71  Cabinet         1.219          0.388          0.631          0              0              0
  72  Sink            1.544          0.869          1.639          0              180            0
  73  StoveBurner     -0.832         0.922          1.865          0              0              0
  74  StoveBurner     -0.831         0.922          1.470          0              0              0
  75  Drawer          1.370          0.774          0.916          0              0              0
  76  Cabinet         -0.911         1.810          2.111          0              180            0
  77  Fridge          -1.001         0.0            0.119          0              0              0
  78  StoveKnob       -0.648         0.926          1.923          0              270            0
  79  StoveKnob       -0.648         0.926          1.363          0              270            0
  80  StoveKnob       -0.648         0.926          1.513          0              270            0
  81  StoveKnob       -0.648         0.926          1.763          0              270            0
  82  Toaster         -1.002         0.926          2.561          0              90             0
  83  GarbageCan      1.451          -0.029         2.912          0              0              0
  84  Microwave       1.632          1.480          1.645          0              270            0
  85  Window          0.224          1.601          3.509          90             0              0
  86  CoffeeMachine   1.692          0.926          2.453          0              270            0
  87  SinkBasin       1.461          0.833          1.369          0              180            0
  88  LightSwitch     0.451          1.412          -1.674         0              0              0
  89  Faucet          1.707          0.925          1.363          0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: walk to face counter between fridge and stove | STEP 2: pick up the apple from the counter top | STEP 3: walk left to face fridge | STEP 4: chill apple in fridge, remove apple from fridge | STEP 5: walk to face microwave | STEP 6: put apple inside microwave | END