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           1.0            0.900          0.5            0              90             0
   1  Potato          -1.721         0.586          0.201          0              90             0              94
   2  Potato          0.256          0.784          -1.490         0              0              0              95
   3  CellPhone       0.000          0.923          0.506          0              0              0              79
   4  Ladle           1.769          0.806          1.292          0              270            0              77
   5  Ladle           -0.106         0.969          1.202          0              0              0              79
   6  DishSponge      -0.744         1.679          -1.614         0              0              0              73
   7  DishSponge      1.812          0.460          1.350          0              0              0              69
   8  ButterKnife     0.000          0.925          0.738          0              0              0              79
   9  Fork            1.661          0.117          -0.020         0              0              0              54
  10  Spoon           1.726          0.912          1.333          0              90             0              71
  11  Spoon           -0.002         0.761          -1.490         0              0              0              95
  12  Spatula         1.713          0.361          0.736          0              270            0              65
  13  Spatula         1.762          0.560          1.350          0              270            0              69
  14  Pot             -0.213         0.929          0.273          0              0              0              79
  15  Egg             0.170          0.817          -1.324         0              0              0              95
  16  Knife           0.000          0.947          0.970          0              0              0              79
  17  Knife           1.986          0.933          1.182          0              0              0              71
  18  SoapBottle      0.107          0.929          1.202          0              0              0              79
  19  PepperShaker    1.660          0.691          0.608          0              0              0              72
  20  PepperShaker    -0.867         1.675          -1.577         0              0              0              73
  21  Bread           0.214          1.006          0.738          0              0              0              79
  22  Bread           -0.213         1.006          -0.190         0              0              0              79
  23  Lettuce         -1.639         0.988          -0.964         0              0              0              71
  24  Mug             1.988          1.001          -0.547         0              270            0              92
  25  Mug             1.956          1.001          -0.651         0              270            0              92
  26  SoapBottle      -0.844         0.915          -1.318         0              0              0              71
  27  Cup             -1.753         1.027          0.201          0              90             0              94
  28  Pot             1.975          0.938          0.819          0              180            0              81
  29  Fork            1.640          0.912          1.182          0              0              0              71
  30  Ladle           1.714          0.628          -0.165         0              270            0              56
  31  Kettle          -1.244         0.114          -1.296         0              0              0              83
  32  Egg             -1.773         0.098          1.33           0              270            0              85
  33  Plate           1.839          0.910          0.025          0              0              0              71
  34  Pan             -1.286         0.9            -1.348         0              79.769         0              71
  35  Lettuce         -0.175         0.837          -1.435         0              0              0              95
  36  Spatula         1.117          0.926          -1.513         0              0              0              71
  37  Apple           -1.697         1.522          0.201          0              90             0              94
  38  Knife           0.321          0.947          0.738          0              90             0              79
  39  SaltShaker      -0.106         0.921          0.506          0              0              0              79
  40  PepperShaker    0.698          0.667          -1.301         0              0              0              52
  41  CellPhone       1.662          0.139          1.153          0              0              0              80
  42  ButterKnife     1.746          0.911          -0.210         0              0              0              71
  43  Bread           0.214          1.006          0.273          0              0              0              79
  44  Tomato          -0.320         0.980          0.970          0              0              0              79
  45  Potato          0.000          0.949          0.273          0              0              0              79
  46  DishSponge      0.321          0.925          -0.190         0              0              0              79
  47  Spoon           -0.261         0.761          -1.490         0              90             0              95
  48  Mug             0.083          0.755          -1.380         0              0              0              95
  49  Bowl            1.234          0.107          -1.542         0              0              0              64
  50  Cabinet         -0.495         0.474          -1.149         0              0              0
  51  Window          -0.010         1.582          -1.821         0              0              0
  52  Drawer          0.805          0.475          -1.159         0              0              0
  53  StoveBurner     1.764          0.902          0.601          0              270            0
  54  Drawer          1.5            0.196          -0.019         0              0              0
  55  Drawer          1.5            0.629          -0.018         0              0              0
  56  Drawer          1.5            0.602          -0.019         0              270            0
  57  StoveBurner     1.975          0.902          0.384          0              270            0
  58  Cabinet         -1.703         2.022          -1.453         0              90             0
  59  Cabinet         1.789          2.019          -0.819         0              270            0
  60  Cabinet         0.494          0.474          -1.149         0              0              0
  61  Cabinet         0.409          0.475          0.444          0              0              0
  62  Drawer          -0.696         0.475          -1.159         0              0              0
  63  Drawer          1.5            0.140          0.599          0              270            0
  64  Cabinet         1.389          0.474          -1.149         0              0              0
  65  Drawer          1.5            0.305          0.600          0              0              0
  66  StoveBurner     1.975          0.902          0.601          0              270            0
  67  Drawer          1.5            0.429          -0.019         0              0              0
  68  StoveBurner     1.764          0.902          0.819          0              270            0
  69  Drawer          1.5            0.519          1.220          0              0              0
  70  Cabinet         1.705          2.019          -1.449         0              0              0
  71  CounterTop      0.002          0.947          -1.513         0              0              0
  72  Drawer          1.5            0.629          0.605          0              0              0
  73  Cabinet         -0.627         2.019          -1.449         0              0              0
  74  StoveBurner     1.764          0.902          0.384          0              270            0
  75  Drawer          1.5            0.538          0.600          0              0              0
  76  Sink            0.0            0.893          -1.434         0              0              0
  77  Drawer          1.5            0.782          1.220          0              270            0
  78  Window          2.217          1.565          -0.384         0              0              0
  79  CounterTop      -0.014         0.961          0.505          0              0              0
  80  Drawer          1.5            0.200          1.220          0              0              0
  81  StoveBurner     1.975          0.902          0.819          0              270            0
  82  Window          -3.240         1.616          2.693          0              270            0
  83  Cabinet         -1.389         0.474          -1.149         0              0              0
  84  LightSwitch     -0.153         1.291          3.700          0              180            0
  85  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  86  StoveKnob       1.602          0.917          0.570          0              270            180
  87  StoveKnob       1.602          0.917          0.625          0              270            180
  88  StoveKnob       1.602          0.917          0.739          0              270            180
  89  StoveKnob       1.602          0.917          0.680          0              270            180
  90  StoveKnob       1.602          0.917          0.462          0              270            180
  91  StoveKnob       1.602          0.917          0.517          0              270            180
  92  Microwave       1.932          0.899          -0.766         0              270            0
  93  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  94  Fridge          -1.764         0.0            0.014          0              90             0
  95  SinkBasin       -0.014         0.736          -1.435         0              0              0
  96  Toaster         1.977          0.900          -0.336         0              270            0
  97  Faucet          -0.020         1.137          -1.605         0              270            0
  98  Chair           -9.354         0.000          1.242          0              180            0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn to the right and then the right again. Find the fridge on the left. | STEP 2: Open the fridge and take out the apple. Shut the door. | STEP 3: Take the apple and turn to the left and left again to get to the microwave. | STEP 4: Open the microwave and place the apple inside. Shut the door and then open it again and take out the apple. Shut the door. | STEP 5: Take the apple and turn to the left and left again to face the island. | STEP 6: Place the apple on the counter, in between the two loaves of bread. | END