Task: Put a clean yellow fruit in the microwave.

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          0.900          2.5            0              180            0
   1  Potato          -1.317         0.943          0.937          0              90             0              91
   2  DishSponge      -2.386         1.398          3.818          0              0              0              51
   3  DishSponge      0.737          0.690          1.016          0              0              0              61
   4  Spatula         1.099          0.838          1.072          0              270            0              50
   5  Spoon           0.770          0.693          2.568          0              0              0              47
   6  Fork            0.635          0.692          2.568          0              270            0              47
   7  Egg             -1.746         1.395          3.868          0              180            0              79
   8  Plate           -1.801         1.687          3.897          0              0              0              45
   9  Knife           1.099          0.846          2.285          0              90             0              55
  10  SoapBottle      -1.717         0.127          3.675          0              0              0              72
  11  SoapBottle      -0.921         0.900          1.349          0              90             0              91
  12  Tomato          -2.643         1.476          2.221          0              90             0              82
  13  Tomato          -2.577         0.835          2.165          0              90             0              82
  14  Bowl            0.704          0.124          2.493          0              0              0              57
  15  Bowl            -2.519         0.993          2.165          0              90             0              82
  16  SaltShaker      -1.185         0.896          1.452          0              90             0              91
  17  SaltShaker      -2.059         1.395          3.779          0              0              0              48
  18  Lettuce         -1.317         0.976          1.349          0              90             0              91
  19  Lettuce         -2.694         1.266          2.389          0              90             0              82
  20  Mug             -1.538         1.354          3.967          0              270            0              79
  21  Mug             -1.642         1.354          3.836          0              180            0              79
  22  Plate           0.860          0.812          0.975          0              0              0              50
  23  Fork            0.702          0.692          2.496          0              90             0              47
  24  Bread           -2.779         0.876          3.405          0              0              0              73
  25  Spatula         -2.374         0.838          3.650          0              0              0              73
  26  PaperTowelRoll  0.650          0.927          2.111          0              0              0              55
  27  Potato          -1.317         0.943          1.555          0              90             0              91
  28  SoapBottle      -0.657         0.900          1.143          0              90             0              91
  29  Egg             0.873          0.060          2.918          0              0              0              84
  30  Cup             -2.498         0.718          1.917          0              90             0              82
  31  Pot             0.642          0.850          1.375          0              0              0              67
  32  SaltShaker      -2.501         0.153          1.597          0              0              0              58
  33  Pan             -2.667         0.812          3.74           0              137.145        0              73
  34  PepperShaker    -2.424         1.630          2.989          0              0              0              69
  35  ButterKnife     -2.172         0.812          3.552          0              0              0              73
  36  Tomato          -0.657         0.969          1.555          0              90             0              91
  37  DishSponge      -0.921         0.900          1.555          0              90             0              91
  38  Lettuce         -0.580         0.956          1.358          31.822         0              0              91
  39  Spoon           -0.524         0.901          1.246          0              180            0              91
  40  Apple           -0.524         0.961          1.143          0              90             0              91
  41  Knife           -1.698         0.846          3.535          0              0              0              73
  42  Mug             -1.317         0.895          1.040          0              90             0              91
  43  Bowl            -1.411         1.681          3.897          0              90             0              78
  44  Drawer          0.729          0.703          2.199          0              0              0
  45  Cabinet         -1.962         1.926          3.733          0              0              0
  46  Cabinet         -2.377         2.014          1.058          0              0              0
  47  Drawer          0.729          0.703          2.532          0              0              0
  48  Cabinet         -2.622         1.925          3.733          0              0              0
  49  StoveBurner     0.913          0.843          1.375          0              0              0
  50  CounterTop      0.864          0.858          0.984          0              0              0
  51  Cabinet         -1.976         1.779          3.734          0              0              0
  52  Cabinet         0.580          0.385          0.819          0              0              0
  53  Cabinet         -2.379         1.408          1.677          0              0              0
  54  Cabinet         -0.419         1.703          3.736          0              0              0
  55  CounterTop      0.864          0.858          2.371          0              0              0
  56  Sink            -1.702         0.726          3.828          0              180            0
  57  Cabinet         0.580          0.385          2.694          0              0              0
  58  Cabinet         -2.379         0.637          1.677          0              0              0
  59  Cabinet         -0.419         0.674          3.736          0              0              0
  60  Cabinet         -2.377         2.014          2.558          0              0              0
  61  Drawer          0.729          0.703          0.980          0              0              0
  62  Drawer          -2.114         0.706          3.657          0              0              0
  63  Cabinet         -2.377         1.691          2.572          0              0              0
  64  Cabinet         -2.951         1.925          3.733          0              0              0
  65  Cabinet         0.580          0.385          2.360          0              0              0
  66  Cabinet         -2.426         0.435          3.421          0              0              0
  67  StoveBurner     0.642          0.843          1.375          0              0              0
  68  Cabinet         -2.377         1.927          1.686          0              0              0
  69  Cabinet         -2.377         2.013          3.177          0              0              0
  70  Cabinet         -1.136         0.385          3.516          0              0              0
  71  StoveBurner     0.913          0.843          1.768          0              0              0
  72  Cabinet         -1.974         0.385          3.516          0              0              0
  73  CounterTop      -2.081         0.858          3.799          0              0              0
  74  Cabinet         -2.426         0.435          3.174          0              0              0
  75  Cabinet         -2.377         2.014          1.693          0              0              0
  76  Cabinet         -1.986         0.385          3.511          0              0              0
  77  StoveBurner     0.642          0.843          1.768          0              0              0
  78  Cabinet         -1.098         1.926          3.729          0              0              0
  79  Microwave       -1.529         1.250          3.881          1.622          180            0
  80  CoffeeMachine   1.000          0.812          2.492          0              270            0
  81  LightSwitch     0.825          1.396          4.082          0              180            0
  82  Fridge          -2.642         0.0            2.134          0              180            0
  83  Window          -1.131         1.673          0.808          90             0              0
  84  GarbageCan      0.931          -0.000         2.918          0              0              0
  85  SinkBasin       -1.601         0.686          3.774          0              0              0
  86  StoveKnob       1.104          1.002          1.886          0              0              70.346
  87  StoveKnob       1.104          1.002          1.733          0              0              70.346
  88  StoveKnob       1.104          1.002          1.321          0              0              70.346
  89  StoveKnob       1.104          1.002          1.481          0              0              70.346
  90  Toaster         -2.247         0.812          3.862          0              180            0
  91  DiningTable     -0.917         -0.000         1.203          0              0              0
  92  Stool           -0.932         0.000          1.404          1.196          21.715         0
  93  Faucet          -1.842         0.809          3.984          0              180            0
  94  Faucet          -1.371         0.809          3.985          0              180            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn left and walk up to the end of the white table. | STEP 2: Pick up the yellow fruit that is to the left of the spoon on the white table. | STEP 3: Turn right and begin across the room, then hang a left and walk over to the fridge, after that turn right and walk up to the sink. | STEP 4: Place the yellow fruit in the larger sink basin to the right, then turn the water on, after a few seconds turn the water off and remove the now clean yellow apple. | STEP 5: Turn right and take a step forward, then turn left to face the sink and look up at the microwave. | STEP 6: Open the microwave door and place the clean yellow fruit inside to the right of the closest mug. | END