Task: Put a heated apple in front of the lettuce on the counter top.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.930          -0.75          0              270            0
   1  Potato          0.533          0.949          0.928          0              0              0              96
   2  Potato          3.152          0.785          0.231          0              90             0              110
   3  Ladle           0.547          0.945          0.140          0              216.810        0              96
   4  DishSponge      3.084          0.175          -0.870         0              0              0              77
   5  DishSponge      3.141          0.175          -0.702         0              0              0              77
   6  Spatula         -0.868         0.146          0.401          0              90             0              95
   7  Spatula         -0.786         0.341          -0.098         0              90             0              70
   8  Fork            1.229          0.911          0.747          0              180            0              96
   9  Fork            2.966          0.901          -0.698         0              0              0              64
  10  CellPhone       -0.950         0.128          0.163          0              0              0              85
  11  Mug             3.049          0.966          0.591          0              270            0              108
  12  Apple           -0.789         0.974          0.846          0              0              0              65
  13  Apple           -0.857         0.974          -0.671         0              45             0              65
  14  Lettuce         0.836          0.973          0.747          0              0              0              96
  15  PepperShaker    0.415          0.896          -1.373         0              0              0              86
  16  PepperShaker    2.888          0.897          -0.499         0              0              0              64
  17  SoapBottle      0.101          0.909          -1.660         0              0              0              86
  18  Egg             2.987          0.799          0.098          0              90             0              110
  19  Egg             0.550          0.963          0.259          0              36.810         0              96
  20  Cup             -0.182         1.261          -1.502         0              45             0              82
  21  Cup             1.086          0.711          -1.407         0              0              0              111
  22  Plate           3.181          1.477          -1.648         0              0              0              63
  23  Plate           3.200          0.913          -0.698         0              0              0              64
  24  Knife           1.360          0.933          0.889          0              0              0              96
  25  Knife           0.775          0.936          0.213          0              36.810         0              96
  26  Plate           1.208          1.687          -1.480         0              0              0              56
  27  Glassbottle     3.155          0.101          1.626          0              225            0              106
  28  SoapBottle      1.229          0.920          0.464          0              0              0              96
  29  Potato          1.242          1.111          -1.475         0              0              0              111
  30  Fork            0.781          0.911          0.452          0              36.810         0              96
  31  Ladle           1.360          0.945          0.038          0              0              0              96
  32  Pot             -0.420         0.902          -0.920         0              135            0              60
  33  Kettle          -0.419         0.902          -1.269         0              315            0              67
  34  Spatula         -0.827         0.532          1.168          0              90             0              53
  35  Knife           0.494          0.925          -1.516         0              90             0              86
  36  Lettuce         -0.935         0.965          -0.047         0              0              0              65
  37  Cup             0.356          0.908          0.326          0              0              0              96
  38  SaltShaker      -0.991         0.514          1.343          0              0              0              53
  39  Egg             3.069          0.799          -0.100         0              90             0              110
  40  PepperShaker    -0.661         0.703          -0.777         0              45             0              59
  41  ButterKnife     1.360          0.908          0.322          0              0              0              96
  42  Apple           -1.043         0.974          -0.691         0              45             0              65
  43  Pan             0.341          0.873          -1.649         0              167.065        0              86
  44  Bread           0.007          0.979          -1.435         0              45             0              86
  45  CellPhone       -0.909         0.323          -0.273         0              0              0              70
  46  DishSponge      -0.717         0.899          0.399          0              0              0              65
  47  Tomato          3.122          0.937          -0.897         0              0              0              64
  48  Spoon           3.028          0.748          0.298          0              180            0              110
  49  Bowl            -1.008         0.897          0.176          0              0              0              65
  50  Mug             2.914          0.170          -0.828         0              90             0              77
  51  Drawer          0.376          0.572          -1.509         0              0              0
  52  Drawer          3.020          0.769          -0.783         0              180            0
  53  Drawer          -0.860         0.577          1.429          0              0              0
  54  StoveBurner     -0.600         0.897          -1.090         0              135            0
  55  Drawer          0.376          0.191          -1.509         0              0              0
  56  Cabinet         1.402          1.874          -1.259         0              0              0
  57  Cabinet         -0.202         1.963          -1.328         0              0              0
  58  Drawer          -0.860         0.765          1.429          0              0              0
  59  Drawer          -0.677         0.765          -0.700         0              0              0
  60  StoveBurner     -0.420         0.897          -0.920         0              135            0
  61  Drawer          3.020          0.769          -0.407         0              180            0
  62  Drawer          -0.860         0.577          0.663          0              0              0
  63  Cabinet         2.819          1.768          -1.850         0              0              0
  64  CounterTop      3.111          0.936          0.019          0              0              0
  65  CounterTop      -1.007         0.935          -0.039         0              0              0
  66  Drawer          -0.860         0.385          0.663          0              0              0
  67  StoveBurner     -0.419         0.897          -1.269         0              315            0
  68  Drawer          -0.047         0.573          -1.324         0              0              0
  69  Drawer          -0.860         0.765          0.663          0              0              0
  70  Drawer          -0.860         0.385          -0.100         0              0              0
  71  Drawer          0.376          0.380          -1.509         0              0              0
  72  Drawer          -0.860         0.765          -0.100         0              0              0
  73  Drawer          0.376          0.765          -1.509         0              0              0
  74  Cabinet         2.849          0.419          0.409          0              0              0
  75  Drawer          -0.047         0.765          -1.324         0              0              0
  76  Cabinet         2.849          0.419          -0.610         0              0              0
  77  Cabinet         2.849          0.419          -0.959         0              0              0
  78  Cabinet         3.069          1.666          -0.709         0              0              0
  79  Cabinet         2.819          1.768          -1.047         0              0              0
  80  Cabinet         0.620          1.874          -1.259         0              0              0
  81  Cabinet         0.140          1.666          -1.559         0              0              0
  82  Cabinet         -0.189         1.666          -1.340         0              0              0
  83  Cabinet         -0.709         1.963          -0.819         0              0              0
  84  Cabinet         -0.920         1.665          -0.620         0              0              0
  85  Drawer          -0.860         0.190          -0.100         0              0              0
  86  CounterTop      0.133          0.935          -1.457         0              0              0
  87  Drawer          3.020          0.769          0.695          0              180            0
  88  Drawer          -0.677         0.577          -0.700         0              0              0
  89  Drawer          -0.860         0.190          1.429          0              0              0
  90  Drawer          -0.047         0.192          -1.324         0              0              0
  91  Drawer          -0.677         0.193          -0.700         0              0              0
  92  Drawer          -0.860         0.577          -0.100         0              0              0
  93  Sink            3.078          0.887          0.086          0              0              0
  94  StoveBurner     -0.239         0.897          -1.089         0              315            0
  95  Drawer          -0.860         0.190          0.663          0              0              0
  96  CounterTop      1.210          0.937          0.463          0              0              0
  97  Drawer          -0.047         0.381          -1.324         0              0              0
  98  Drawer          -0.677         0.387          -0.700         0              0              0
  99  Mirror          -1.295         1.630          0.045          0              0              0
 100  Drawer          -0.860         0.385          1.429          0              0              0
 101  HousePlant      3.196          0.891          -0.368         0              0              0
 102  StoveKnob       -0.090         0.790          -1.009         270            45             0
 103  StoveKnob       -0.280         0.790          -0.819         270            45             0
 104  StoveKnob       -0.180         0.790          -0.920         270            45             0
 105  StoveKnob       -0.370         0.790          -0.720         270            45             0
 106  GarbageCan      3.137          0.025          1.545          0              225            0
 107  Window          3.703          1.675          0.046          90             90             0
 108  CoffeeMachine   3.214          0.890          0.697          0              270            0
 109  LightSwitch     2.592          1.309          -1.880         0              0              0
 110  SinkBasin       3.069          0.736          0.108          0              90             0
 111  Fridge          1.008          0.029          -1.467         0              0              0
 112  Toaster         -1.035         0.873          -0.396         0              90             0
 113  Microwave       -1.034         0.874          1.428          0              90             0
 114  Faucet          3.305          0.886          0.094          270            180            0
 115  NorthWall
 116  EastWall
 117  SouthWall
 118  WestWall

Plan:
STEP 1: Walk straight, turn right near the stove, walk straight and turn left when you see a sponge on the counter top.  | STEP 2: Pick up the yellow apple near the microwave on the counter top  | STEP 3: Go to the right a little bit to go to the microwave.  | STEP 4: Open the microwave, put the apple in it, close the microwave, let it heat for a while, pick it up again and close the microwave.  | STEP 5: Go to the left and turn right before the toaster on the counter top.  | STEP 6: Put the apple in front of the lettuce on the counter top.  | END