Task: Heat an 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           0.0            0.900          0.5            0              90             0
   1  Pan             0.281          0.964          1.347          0              0              0              65
   2  Potato          -0.939         0.855          -1.183         0              0              0              109
   3  Potato          -2.019         0.458          1.459          0              270            0              103
   4  DishSponge      2.837          0.771          1.236          0              0              0              94
   5  Kettle          0.281          0.964          1.082          0              0              0              56
   6  ButterKnife     2.754          0.911          1.299          0              0              0              85
   7  ButterKnife     1.141          0.911          -0.769         0              0              0              50
   8  Pot             -0.198         0.915          1.468          0              0              0              61
   9  Fork            2.155          0.771          1.198          0              270            0              81
  10  Fork            -0.621         0.821          -1.206         0              90             0              109
  11  Spatula         0.193          0.780          -0.707         0              90             0              107
  12  Spatula         2.221          0.926          1.129          0              0              0              85
  13  Plate           2.488          0.914          1.129          0              0              0              85
  14  Cup             0.570          1.782          1.455          0              180            0              108
  15  Cup             2.838          1.016          -0.709         0              0              0              105
  16  Knife           -0.887         0.853          -1.473         0              180            0              109
  17  SoapBottle      1.135          0.120          -0.421         0              180            0              58
  18  SoapBottle      2.154          1.660          1.394          0              0              0              74
  19  Tomato          -1.056         0.852          -1.257         0              90             0              109
  20  Tomato          -2.019         0.455          1.332          0              270            0              103
  21  SaltShaker      1.558          0.111          -0.379         0              180            0              67
  22  SaltShaker      1.254          1.651          1.429          0              0              0              77
  23  PepperShaker    -0.734         0.817          -1.473         0              0              0              109
  24  Mug             1.422          0.906          1.553          0              0              0              85
  25  Mug             1.902          0.906          -0.430         0              0              0              50
  26  Apple           -0.694         0.889          -1.257         0              90             0              109
  27  SoapBottle      0.888          0.917          -0.515         0              0              0              50
  28  Plate           0.634          0.914          -0.430         0              0              0              50
  29  Fork            1.140          0.771          -0.498         0              90             0              69
  30  Pot             1.688          0.915          1.468          0              0              0              85
  31  Bread           0.634          0.969          -0.684         0              0              0              50
  32  Egg             -0.157         0.803          -0.762         0              0              0              107
  33  Kettle          0.678          0.964          1.345          0              0              0              88
  34  Tomato          2.488          0.942          1.468          0              0              0              85
  35  Cup             -0.246         0.909          1.214          0              0              0              61
  36  Spatula         -0.103         0.926          1.214          0              0              0              61
  37  Apple           -0.939         0.889          -1.400         0              0              0              109
  38  Pan             0.637          0.960          1.090          0              0              0              53
  39  Lettuce         1.688          0.992          1.214          0              0              0              85
  40  SaltShaker      -0.007         0.908          1.383          0              0              0              61
  41  Knife           0.026          0.758          -0.592         273.786        317.657        5.542          107
  42  Potato          0.123          0.800          -0.762         0              180            0              107
  43  PepperShaker    1.155          0.908          1.299          0              0              0              85
  44  ButterKnife     0.123          0.765          -0.707         0              180            0              107
  45  Bowl            2.653          1.286          -0.709         0              0              0              105
  46  DishSponge      -0.836         0.820          -1.255         0              0              0              109
  47  Spoon           -0.734         0.822          -1.110         0              0              0              109
  48  Mug             2.715          1.558          -0.644         0              0              0              105
  49  Sink            0.050          0.902          -0.648         0              0              0
  50  CounterTop      1.358          0.947          -0.600         0              0              0
  51  Cabinet         2.986          2.009          1.304          0              0              0
  52  Cabinet         1.022          2.009          -0.607         0              180            0
  53  StoveBurner     0.678          0.923          1.082          0              0              0
  54  Cabinet         2.371          0.402          0.995          0              0              0
  55  Drawer          -0.125         0.792          0.995          0              0              0
  56  StoveBurner     0.281          0.923          1.082          0              0              0
  57  Cabinet         1.025          0.402          0.995          0              0              0
  58  Cabinet         1.023          0.402          -0.296         0              180            0
  59  Cabinet         0.974          2.259          1.304          0              0              0
  60  Cabinet         0.979          2.009          -0.607         0              180            0
  61  CounterTop      -0.158         0.947          1.299          0              0              0
  62  Cabinet         1.725          2.009          1.304          0              0              0
  63  Drawer          2.205          0.792          -0.294         0              180            0
  64  Drawer          1.869          0.792          -0.294         0              180            0
  65  StoveBurner     0.281          0.923          1.347          0              0              0
  66  Drawer          2.512          0.792          0.995          0              0              0
  67  Cabinet         1.673          0.402          -0.296         0              180            0
  68  Drawer          1.524          0.792          0.995          0              0              0
  69  Drawer          1.174          0.792          -0.294         0              180            0
  70  Cabinet         1.720          0.402          0.995          0              0              0
  71  Cabinet         2.348          2.009          -0.607         0              180            0
  72  Cabinet         1.676          2.009          -0.607         0              180            0
  73  Cabinet         1.673          2.009          1.304          0              0              0
  74  Cabinet         2.326          2.009          1.304          0              0              0
  75  Cabinet         2.370          2.009          1.304          0              0              0
  76  Cabinet         0.021          2.009          1.304          0              0              0
  77  Cabinet         1.025          2.009          1.304          0              0              0
  78  Cabinet         -0.274         0.402          0.995          0              0              0
  79  Cabinet         1.675          0.402          0.995          0              0              0
  80  Drawer          1.524          0.792          -0.294         0              180            0
  81  Drawer          2.187          0.792          0.995          0              0              0
  82  Cabinet         2.977          0.402          0.995          0              0              0
  83  Drawer          1.862          0.792          0.995          0              0              0
  84  Cabinet         0.072          2.259          1.304          0              0              0
  85  CounterTop      1.917          0.947          1.299          0              0              0
  86  Cabinet         2.328          0.402          0.995          0              0              0
  87  Cabinet         1.723          2.009          -0.607         0              180            0
  88  StoveBurner     0.677          0.923          1.345          0              0              0
  89  Cabinet         0.355          2.009          -0.607         0              180            0
  90  Cabinet         0.332          2.009          -0.607         0              180            0
  91  Cabinet         2.349          0.402          -0.296         0              180            0
  92  Cabinet         -0.284         2.009          -0.607         0              180            0
  93  Faucet          0.061          0.906          -0.903         0              0              0
  94  Drawer          2.837          0.792          0.995          0              0              0
  95  Drawer          1.175          0.792          0.995          0              0              0
  96  Cabinet         1.723          0.402          -0.296         0              180            0
  97  StoveKnob       0.588          1.093          1.557          287.970        0              0
  98  StoveKnob       0.188          1.093          1.557          287.970        0              0
  99  StoveKnob       0.749          1.093          1.557          287.970        0              0
 100  StoveKnob       0.338          1.093          1.557          287.970        0              0
 101  Toaster         1.934          0.900          -0.717         0              0              0
 102  LightSwitch     -1.662         1.427          1.649          0              180            0
 103  GarbageCan      -1.965         -0.029         1.358          0              270            0
 104  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 105  Fridge          3.043          0.0            -0.709         0              0              0
 106  Window          -2.183         1.501          -0.014         90             270            0
 107  SinkBasin       0.043          0.755          -0.651         0              0              0
 108  Microwave       0.531          1.675          1.437          0              180            0
 109  DiningTable     -0.836         8.404          -1.258         0              0              0
 110  Chair           -1.611         0.002          -1.185         0              45             0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn around and walk to the left and go forward to the table.  | STEP 2: Pick up the apple from the table.  | STEP 3: Turn around completely and go to the left. Go forward. Turn to the left and face the microwave.  | STEP 4: Place the apple inside the microwave and heat the apple. Take out the apple.  | STEP 5: Turn around and walk to the other counter.  | STEP 6: Place the apple on the counter.  | END