Task: Heat an apple and 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           -0.5           1.124          0.5            0              180            0
   1  DishSponge      -1.687         0.419          -0.430         0              0              0              40
   2  Pot             -0.239         1.331          -3.301         0              180            0              31
   3  Egg             -1.400         1.363          -0.098         0              0              0              36
   4  Cup             -1.954         0.341          1.420          0              0              0              37
   5  SoapBottle      -1.586         0.280          2.193          0              270            0              51
   6  Bowl            -1.681         0.342          0.311          0              0              0              34
   7  PepperShaker    -1.730         0.417          -1.086         0              0              0              42
   8  Bread           -1.363         1.397          -1.503         0              0              0              36
   9  Pot             -0.125         1.332          -2.973         0              0              0              44
  10  Knife           -1.915         1.358          -0.911         0              180            0              43
  11  Bowl            -1.818         0.342          1.317          0              0              0              37
  12  Potato          -1.920         1.362          -2.201         0              0              0              36
  13  SoapBottle      1.027          1.207          1.222          0              0              0              61
  14  Fork            -1.915         1.336          -1.255         0              0              0              43
  15  Cup             -1.681         0.341          0.713          0              0              0              34
  16  Kettle          -1.691         1.310          -3.156         0              150.000        0              36
  17  Egg             -1.826         1.091          -0.633         0              0              0              54
  18  Pan             -1.401         1.322          -1.941         0              0              0              36
  19  SaltShaker      -1.451         1.318          -3.425         0              0              0              36
  20  WineBottle      0.636          1.323          -1.683         0              0              0              36
  21  Lettuce         1.025          1.399          -2.053         0              0              0              36
  22  Spatula         -1.518         0.435          -0.561         0              90             0              40
  23  PaperTowelRoll  -1.530         1.427          -2.981         0              0              0              36
  24  Tomato          0.933          1.980          1.494          0              270            0              49
  25  Plate           0.896          1.323          -2.424         0              0              0              36
  26  PepperShaker    -1.952         0.338          0.412          0              0              0              34
  27  DishSponge      -1.660         1.322          -2.201         0              0              0              36
  28  Spoon           -1.762         1.052          -0.542         0              180            0              54
  29  Apple           -1.790         1.371          -2.721         0              0              0              36
  30  Mug             -2.093         1.329          -1.117         0              0              0              43
  31  StoveBurner     -0.239         1.325          -3.301         0              180            0
  32  Cabinet         -1.461         0.775          -2.002         0              0              0
  33  StoveBurner     -0.630         1.325          -3.301         0              180            0
  34  Cabinet         -1.461         0.775          0.470          0              0              0
  35  Cabinet         0.578          0.776          -2.054         0              0              0
  36  CounterTop      -1.809         1.358          1.182          0              0              0
  37  Cabinet         -1.461         0.775          1.310          0              0              0
  38  Faucet          -2.063         1.362          -0.726         0              39.391         0
  39  StoveBurner     -0.749         1.325          -2.973         0              0              0
  40  Drawer          -1.610         0.681          -0.430         0              0              0
  41  Window          -2.566         1.799          -0.822         270            0              0
  42  Drawer          -1.610         0.681          -1.217         0              0              0
  43  Sink            -1.990         1.143          -0.975         0              0              0
  44  StoveBurner     -0.125         1.325          -2.973         0              0              0
  45  StoveKnob       -0.185         1.338          -2.741         0              270            180
  46  StoveKnob       -0.336         1.338          -2.741         0              270            180
  47  StoveKnob       -0.569         1.338          -2.741         0              270            180
  48  StoveKnob       -0.707         1.338          -2.741         0              270            180
  49  Fridge          1.013          0.227          1.917          0              270            0
  50  Microwave       0.994          1.310          -2.163         0              270            0
  51  GarbageCan      -1.633         0.212          2.192          0              270            0
  52  LightSwitch     1.386          1.565          -0.657         0              270            0
  53  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  54  SinkBasin       -1.835         1.039          -0.542         0              0              0
  55  ButterKnife     0.873          0.468          0.651          0              0              0
  56  Toaster         -1.885         1.310          -2.512         0              90             0
  57  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  58  Drawer          0.647          1.061          0.680          0              270            0
  59  Drawer          0.648          1.061          1.020          0              270            0
  60  Drawer          0.648          0.843          1.020          0              270            0
  61  SideTable       0.975          0.220          0.869          0              270            0
  62  Drawer          0.648          0.602          0.680          0              270            0
  63  Drawer          0.648          0.596          1.020          0              270            0
  64  Drawer          0.648          0.843          0.680          0              270            0
  65  Stool           0.606          0.222          -1.084         1.233          280.489        0
  66  NorthWall
  67  EastWall
  68  SouthWall
  69  WestWall

Plan:
STEP 1: Move forward and then turn right to find the toaster. | STEP 2: Pick up the apple from the left side of the toaster. | STEP 3: Carry the apple and turn to the right and then the right again to find the microwave. | STEP 4: Place the apple in the microwave and turn it on. Open the microwave and take the apple out and shut the door. | STEP 5: Hold the apple and take a step to the left. | STEP 6: Place the apple on the front left side of the counter. | END