Task: Heat up the apple in the microwave and place it on the counter by the lettuce.

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 to the stove, turn right and walk to the end of the counter on the right, turn left and walk to the counter. | STEP 2: Pick up the apple between the microwave the the green sponge. | STEP 3: Turn right, walk to the wall, turn left and face the microwave. | STEP 4: Open the microwave door, place the apple on the plate inside, close the door and turn the microwave on.  When the microwave turns off, open the door, remove the apple, and close the microwave door. | STEP 5: Turn left, walk toward the stove, turn right and face the counter. | STEP 6: Place the apple on the counter in front of the head of lettuce. | END