Task: To heat the apple.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.930          -0.5           0              0              0
   1  Potato          3.111          0.785          -0.100         0              90             0              104
   2  DishSponge      2.971          0.175          -0.404         0              0              0              70
   3  Glassbottle     1.160          1.675          -1.689         0              0              0              50
   4  Glassbottle     0.022          0.901          -1.660         0              0              0              80
   5  Kettle          -0.419         0.902          -1.269         0              315            0              61
   6  Spatula         -0.950         0.721          1.693          0              270            0              52
   7  Spoon           -0.827         0.519          -0.186         0              0              0              86
   8  Fork            -0.868         0.707          0.489          0              0              0              63
   9  Fork            -0.675         0.900          -0.753         0              45             0              59
  10  PepperShaker    2.915          0.173          0.770          0              0              0              68
  11  PepperShaker    0.760          1.671          -1.759         0              0              0              74
  12  Bowl            0.836          0.908          0.747          0              0              0              90
  13  SoapBottle      0.760          1.683          -1.619         0              0              0              74
  14  SoapBottle      0.952          1.683          -1.550         0              0              0              74
  15  Tomato          1.086          1.284          -1.475         0              0              0              105
  16  Egg             -0.931         0.952          -0.901         0              45             0              59
  17  Cup             0.101          0.898          -1.445         0              0              0              80
  18  Cup             1.208          1.672          -1.550         0              0              0              50
  19  Knife           -0.932         0.925          -0.801         0              135            0              59
  20  Plate           1.098          0.923          0.747          0              0              0              90
  21  Glassbottle     -1.080         0.901          0.176          0              0              0              59
  22  SoapBottle      0.356          0.917          0.426          0              0              0              90
  23  Potato          -0.862         0.938          -0.047         0              0              0              59
  24  Fork            2.966          0.901          0.947          0              0              0              81
  25  Ladle           -0.987         0.937          -0.746         0              135            0              59
  26  Pot             0.423          0.900          0.869          0              0              0              90
  27  Kettle          -0.600         0.902          -1.090         0              135            0              48
  28  Spatula         -0.991         0.145          1.168          0              90             0              83
  29  Knife           3.373          0.926          -0.151         0              90             0              58
  30  Lettuce         1.164          1.139          -1.503         0              0              0              105
  31  Cup             3.355          0.898          -0.499         0              0              0              58
  32  SaltShaker      0.856          1.671          -1.550         0              0              0              74
  33  Egg             1.242          1.300          -1.531         0              0              0              105
  34  PepperShaker    -0.336         0.896          -1.501         0              45             0              80
  35  ButterKnife     -1.008         0.900          -0.047         0              0              0              59
  36  Apple           -1.008         0.974          0.399          0              0              0              59
  37  Pan             0.341          0.873          -1.649         0              167.065        0              80
  38  Bread           3.122          0.979          -0.698         0              0              0              58
  39  CellPhone       3.354          0.898          -0.279         0              0              0              58
  40  DishSponge      -0.868         0.326          -0.098         0              0              0              64
  41  Tomato          -0.033         0.937          -1.291         0              45             0              80
  42  Spoon           0.059          0.901          -1.383         0              45             0              80
  43  Bowl            0.722          0.905          0.374          0              36.810         0              90
  44  Mug             3.277          0.895          -0.897         0              90             0              58
  45  Drawer          0.376          0.572          -1.509         0              0              0
  46  Drawer          3.020          0.769          -0.783         0              180            0
  47  Drawer          -0.860         0.577          1.429          0              0              0
  48  StoveBurner     -0.600         0.897          -1.090         0              135            0
  49  Drawer          0.376          0.191          -1.509         0              0              0
  50  Cabinet         1.402          1.874          -1.259         0              0              0
  51  Cabinet         -0.202         1.963          -1.328         0              0              0
  52  Drawer          -0.860         0.765          1.429          0              0              0
  53  Drawer          -0.677         0.765          -0.700         0              0              0
  54  StoveBurner     -0.420         0.897          -0.920         0              135            0
  55  Drawer          3.020          0.769          -0.407         0              180            0
  56  Drawer          -0.860         0.577          0.663          0              0              0
  57  Cabinet         2.819          1.768          -1.850         0              0              0
  58  CounterTop      3.111          0.936          0.019          0              0              0
  59  CounterTop      -1.007         0.935          -0.039         0              0              0
  60  Drawer          -0.860         0.385          0.663          0              0              0
  61  StoveBurner     -0.419         0.897          -1.269         0              315            0
  62  Drawer          -0.047         0.573          -1.324         0              0              0
  63  Drawer          -0.860         0.765          0.663          0              0              0
  64  Drawer          -0.860         0.385          -0.100         0              0              0
  65  Drawer          0.376          0.380          -1.509         0              0              0
  66  Drawer          -0.860         0.765          -0.100         0              0              0
  67  Drawer          0.376          0.765          -1.509         0              0              0
  68  Cabinet         2.849          0.419          0.409          0              0              0
  69  Drawer          -0.047         0.765          -1.324         0              0              0
  70  Cabinet         2.849          0.419          -0.610         0              0              0
  71  Cabinet         2.849          0.419          -0.959         0              0              0
  72  Cabinet         3.069          1.666          -0.709         0              0              0
  73  Cabinet         2.819          1.768          -1.047         0              0              0
  74  Cabinet         0.620          1.874          -1.259         0              0              0
  75  Cabinet         0.140          1.666          -1.559         0              0              0
  76  Cabinet         -0.189         1.666          -1.340         0              0              0
  77  Cabinet         -0.709         1.963          -0.819         0              0              0
  78  Cabinet         -0.920         1.665          -0.620         0              0              0
  79  Drawer          -0.860         0.190          -0.100         0              0              0
  80  CounterTop      0.133          0.935          -1.457         0              0              0
  81  Drawer          3.020          0.769          0.695          0              180            0
  82  Drawer          -0.677         0.577          -0.700         0              0              0
  83  Drawer          -0.860         0.190          1.429          0              0              0
  84  Drawer          -0.047         0.192          -1.324         0              0              0
  85  Drawer          -0.677         0.193          -0.700         0              0              0
  86  Drawer          -0.860         0.577          -0.100         0              0              0
  87  Sink            3.078          0.887          0.086          0              0              0
  88  StoveBurner     -0.239         0.897          -1.089         0              315            0
  89  Drawer          -0.860         0.190          0.663          0              0              0
  90  CounterTop      1.210          0.937          0.463          0              0              0
  91  Drawer          -0.047         0.381          -1.324         0              0              0
  92  Drawer          -0.677         0.387          -0.700         0              0              0
  93  Mirror          -1.295         1.630          0.045          0              0              0
  94  Drawer          -0.860         0.385          1.429          0              0              0
  95  HousePlant      3.196          0.891          -0.368         0              0              0
  96  StoveKnob       -0.090         0.790          -1.009         270            45             0
  97  StoveKnob       -0.280         0.790          -0.819         270            45             0
  98  StoveKnob       -0.180         0.790          -0.920         270            45             0
  99  StoveKnob       -0.370         0.790          -0.720         270            45             0
 100  GarbageCan      3.137          0.025          1.545          0              225            0
 101  Window          3.703          1.675          0.046          90             90             0
 102  CoffeeMachine   3.214          0.890          0.697          0              270            0
 103  LightSwitch     2.592          1.309          -1.880         0              0              0
 104  SinkBasin       3.069          0.736          0.108          0              90             0
 105  Fridge          1.008          0.029          -1.467         0              0              0
 106  Toaster         -1.035         0.873          -0.396         0              90             0
 107  Microwave       -1.034         0.874          1.428          0              90             0
 108  Faucet          3.305          0.886          0.094          270            180            0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Turn left and take one step, then turn right and take one step, then turn left to face the counter.  | STEP 2: Pick up the apple that is on the counter.  | STEP 3: Turn right and walk across the room, then turn left.  | STEP 4: Open the microwave and put the apple inside, then turn the microwave on for three seconds, then open the microwave door and pick up the apple.  | STEP 5: Turn left and walk to the stove, then turn left and take two steps, then turn right.  | STEP 6: Put the apple in the fridge. | END