Task: Pick up the apple and heat it up inside the microwave and after it is done  place it on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.931          -0.5           0              180            0
   1  Potato          0.761          1.108          0.281          0              90             0              45
   2  Potato          -0.260         1.100          -1.828         0              0              0              47
   3  DishSponge      -1.416         0.202          -1.265         0              0              0              55
   4  ButterKnife     0.848          1.043          0.807          0              0              0              49
   5  ButterKnife     1.347          1.043          0.589          0              0              0              49
   6  Kettle          0.000          1.057          -1.4           0              0              0              46
   7  Pot             0.389          1.053          -1.630         0              0              0              43
   8  Fork            1.612          1.043          0.415          0              180            0              49
   9  Spoon           1.514          1.044          0.545          0              0              0              49
  10  Spatula         1.181          1.058          0.720          0              0              0              49
  11  Cup             -1.095         0.964          2.242          0              90             0              62
  12  Knife           -0.517         1.072          -1.289         0              0              0              47
  13  Knife           0.518          1.072          -1.097         0              180            0              47
  14  Tomato          1.523          1.094          0.307          0              0              0              49
  15  SoapBottle      -0.346         1.047          -1.397         0              270            0              47
  16  Bowl            -0.699         1.563          -1.693         0              0              0              52
  17  Bowl            -1.105         0.201          -1.265         0              0              0              55
  18  SaltShaker      0.890          0.194          -1.484         0              0              0              58
  19  SaltShaker      1.665          0.199          -1.262         0              0              0              57
  20  Apple           -1.194         1.759          -1.300         0              0              0              61
  21  SoapBottle      -1.416         0.203          -1.555         0              0              0              55
  22  Apple           -1.096         1.759          -1.362         0              0              0              61
  23  Potato          -0.689         1.100          -1.505         0              0              0              47
  24  Fork            -0.775         1.047          -1.828         0              90             0              47
  25  Kettle          0.823          1.047          -1.289         0              0              0              47
  26  Pan             0.965          1.035          -1.66          0              290.450        0              47
  27  Tomato          -1.051         0.758          1.796          0              90             0              62
  28  SaltShaker      -0.670         0.198          -1.193         0              0              0              56
  29  Egg             -1.038         1.282          1.885          0              90             0              62
  30  Cup             -1.423         1.713          2.063          0              90             0              62
  31  Spatula         0.160          1.058          0.630          0              0              0              49
  32  Knife           0.379          1.072          -1.086         0              0              0              47
  33  Lettuce         0.858          1.103          0.135          30.591         304.297        0              45
  34  ButterKnife     0.109          1.031          0.368          0              0              0              49
  35  PepperShaker    1.347          1.038          0.720          0              0              0              49
  36  DishSponge      -1.183         0.202          -1.410         0              0              0              55
  37  Plate           -1.184         2.041          -1.555         0              0              0              54
  38  Bread           0.405          1.104          0.352          0              337.138        0              49
  39  Spoon           0.936          1.054          0.281          0              90             0              45
  40  Pot             0.250          1.057          -1.4           0              0              0              59
  41  Mug             -0.548         1.560          -1.767         0              180            0              52
  42  Bowl            -1.381         1.488          1.885          0              90             0              62
  43  StoveBurner     0.389          1.043          -1.630         0              0              0
  44  SinkBasin       1.211          0.882          0.236          0              90             0
  45  Sink            0.928          0.941          0.324          0              90             0
  46  StoveBurner     0.000          1.048          -1.399         0              0              0
  47  CounterTop      0.196          1.082          -1.504         0              0              0
  48  StoveBurner     0.5            1.048          -1.399         0              0              0
  49  CounterTop      0.968          1.078          0.415          0              0              0
  50  StoveBurner     0.120          1.043          -1.630         0              0              0
  51  Cabinet         1.322          1.955          -1.309         0              0              0
  52  Cabinet         -0.866         1.955          -1.309         0              0              0
  53  Cabinet         1.993          1.403          -1.110         0              0              0
  54  Cabinet         -1.547         2.001          -1.110         0              0              0
  55  Cabinet         -1.526         0.593          -1.110         0              0              0
  56  Cabinet         -0.852         0.589          -1.110         0              0              0
  57  Cabinet         1.990          0.593          -1.110         0              0              0
  58  Cabinet         1.336          0.589          -1.110         0              0              0
  59  StoveBurner     0.250          1.048          -1.399         0              0              0
  60  Toaster         -0.550         1.035          -1.776         0              0              0
  61  Microwave       -1.189         1.624          -1.284         0              0              0
  62  Fridge          -1.286         0.020          1.832          0              90             0
  63  GarbageCan      1.856          -0.019         2.386          0              270            0
  64  LightSwitch     1.016          1.360          2.619          0              180            0
  65  CoffeeMachine   1.929          1.031          0.440          0              270            0
  66  StoveKnob       0.0            1.046          -1.220         0              0              0
  67  StoveKnob       0.090          1.046          -1.220         0              0              0
  68  StoveKnob       0.246          1.046          -1.220         0              0              0
  69  StoveKnob       0.490          1.046          -1.220         0              0              0
  70  StoveKnob       0.389          1.046          -1.220         0              0              0
  71  Faucet          1.277          1.265          0.384          0              90             0
  72  Chair           0.343          0.031          0.976          0              166.747        0
  73  Chair           1.008          0.031          1.034          0              180            0
  74  Chair           1.575          0.031          1.050          0              210.000        0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: turn right and move forward and turn to the left and face the counter | STEP 2: pick up brown apple from the counter | STEP 3: turn around move forward and turn left and turn left again and face the microwave and place the apple inside of it | STEP 4: place the apple inside of it and heat it up | STEP 5: turn left and move forward and then turn right and towards the counter | STEP 6: place the apple on  the counter  | END