Task: Put a heated apple on top of a black shelving unit.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.869          -3.5           0              270            0
   1  Pan             0.746          1.373          -1.802         0              0              0              67
   2  Potato          0.630          0.805          -0.790         0              270            0              70
   3  DishSponge      0.841          0.664          0.448          0              0              0              52
   4  DishSponge      0.817          0.760          0.002          0              0              0              46
   5  ButterKnife     0.757          0.772          -0.625         0              270            0              70
   6  Spatula         0.720          0.775          0.002          0              270            0              46
   7  Spatula         -1.620         0.711          -3.782         0              90             0              74
   8  Spoon           0.841          0.666          0.630          0              180            0              52
   9  Fork            0.841          0.665          0.387          0              0              0              52
  10  Fork            -1.803         0.702          -1.091         0              0              0              83
  11  Egg             0.841          0.809          -0.515         0              270            0              70
  12  Knife           0.671          0.782          -0.252         0              90             0              46
  13  Tomato          -1.635         0.750          -1.416         0              0              0              83
  14  Tomato          0.746          0.713          -2.035         0              270            0              67
  15  SoapBottle      0.803          0.882          -0.176         0              0              0              47
  16  Bowl            0.149          0.899          0.843          0              270            0              73
  17  PepperShaker    1.040          1.460          0.226          0              0              0              59
  18  PepperShaker    0.767          1.460          0.349          0              0              0              59
  19  SaltShaker      0.721          0.661          0.630          0              0              0              52
  20  Lettuce         0.799          0.859          -0.735         0              270            0              70
  21  Lettuce         -1.260         0.138          -3.611         0              270            0              62
  22  Apple           0.785          0.718          -1.725         0              270            0              67
  23  Apple           -0.453         0.954          0.758          0              270            0              73
  24  Apple           0.803          0.937          0.098          0              0              0              47
  25  Pot             -2.097         0.930          0.785          0              0              0              49
  26  Plate           0.732          0.019          -0.119         0              0              0              57
  27  Fork            0.799          0.773          -0.570         0              0              0              70
  28  SoapBottle      -0.855         0.899          1.187          0              270            0              73
  29  Apple           0.961          0.718          0.448          0              0              0              52
  30  Pan             -1.555         0.930          1.049          0              0              0              56
  31  Egg             -1.790         0.836          -3.738         0              0              0              69
  32  Spatula         0.950          0.898          -0.245         0              90             0              47
  33  Potato          -0.654         0.933          0.758          0              270            0              73
  34  Cup             0.803          0.882          -0.039         0              0              0              47
  35  SaltShaker      0.858          1.460          0.288          0              0              0              59
  36  PepperShaker    0.601          0.660          0.630          0              0              0              52
  37  ButterKnife     0.769          0.759          -0.061         0              0              0              46
  38  DishSponge      -1.970         0.701          -1.199         0              0              0              83
  39  Bread           -1.056         0.944          0.929          0              270            0              73
  40  Lettuce         0.721          0.751          0.326          0              0              0              52
  41  Tomato          -0.252         0.949          0.843          0              270            0              73
  42  Spoon           -2.054         0.702          -1.091         0              0              0              83
  43  Knife           0.817          0.783          -0.252         0              90             0              46
  44  Mug             0.698          0.941          -1.360         0              270            0              60
  45  Bowl            0.149          0.899          1.187          0              270            0              73
  46  Drawer          0.706          0.766          -0.125         0              0              0
  47  CounterTop      0.792          0.919          -0.108         0              0              0
  48  Mirror          1.093          1.602          -0.643         0              0              0
  49  StoveBurner     -2.096         0.890          0.785          0              0              0
  50  Cabinet         0.507          0.345          -0.426         0              0              0
  51  StoveBurner     -1.552         0.890          0.785          0              0              0
  52  SideTable       0.770          -0.030         0.443          0              0              0
  53  Sink            0.753          0.882          -0.680         0              0              0
  54  StoveBurner     -2.096         0.890          1.049          0              0              0
  55  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  56  StoveBurner     -1.554         0.890          1.049          0              0              0
  57  Cabinet         0.507          0.345          0.156          0              0              0
  58  Cabinet         0.717          1.822          -0.398         0              0              0
  59  Cabinet         0.717          1.822          0.669          0              0              0
  60  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  61  Toaster         -0.522         0.886          1.081          0              180            0
  62  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  63  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  65  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  66  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  67  Fridge          0.680          -0.031         -1.957         0              0              0
  68  Window          -2.424         1.639          -2.453         90             270            0
  69  Microwave       -1.994         0.690          -3.651         0              0              0
  70  SinkBasin       0.757          0.762          -0.688         0              270            0
  71  LightSwitch     1.102          1.368          -3.737         0              270            0
  72  Shelf           -0.350         0.124          0.857          0              0              0
  73  DiningTable     -0.350         -0.025         0.857          0              0              0
  74  DiningTable     -1.909         -0.032         -3.507         0              0              0
  75  Blinds          -2.343         2.151          -2.437         0              270            0
  76  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  77  AluminumFoil    0.751          0.225          0.287          0              0              0
  78  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  79  Shelf           0.771          0.226          0.445          0              0              0
  80  Shelf           0.771          0.456          0.446          0              0              0
  81  Faucet          1.025          0.873          -0.678         270            180            0
  82  Shelf           -0.350         0.497          0.857          0              0              0
  83  DiningTable     -1.929         -0.035         -1.398         0              90             0
  84  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Begin walking across the room, then hang a right and walk forward, turn right and walk up to the end of the counter. | STEP 2: Pick up the apple off of the counter. | STEP 3: Turn around and walk towards the wall, then hang a left and walk over to the microwave on the small white table. | STEP 4: Open the microwave and put the apple inside then close the door, turn on the microwave, after a couple seconds open the microwave and take the apple out, then close the microwave. | STEP 5: Walk over to the black shelving unit in between the trash bag and counter behind you. | STEP 6: Put the heated apple on the front right corner of the black shelving unit. | END