Task: Warm the apple up in the oven , put it back on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.900          -2.25          0              90             0
   1  Potato          -3.654         0.792          -2.822         0              334.125        0              81
   2  DishSponge      -0.236         0.940          -1.362         0              0              0              63
   3  DishSponge      -0.465         0.081          -1.449         0              0              0              61
   4  ButterKnife     -0.315         0.941          -1.494         0              0              0              63
   5  Spoon           -0.473         0.942          -1.581         0              0              0              63
   6  Spatula         -4.062         0.706          -0.369         0              90             0              80
   7  Egg             -3.979         0.801          -3.286         0              244.125        0              81
   8  Cup             -0.167         1.576          -2.096         0              270            0              77
   9  Cup             -0.417         1.287          -0.413         0              270            0              75
  10  Plate           -3.370         0.774          -3.539         0              109.125        0              81
  11  Plate           -0.509         0.094          -2.793         0              0              0              58
  12  Knife           -4.062         0.716          -0.491         0              0              0              80
  13  Knife           -3.721         0.785          -3.611         0              289.125        0              81
  14  SoapBottle      -3.654         0.758          -3.681         0              334.125        0              81
  15  SoapBottle      -0.375         1.501          -3.713         0              315            0              57
  16  Tomato          -2.761         0.945          -0.462         0              270            0              82
  17  Bread           -3.342         0.841          -3.185         0              244.125        0              81
  18  SaltShaker      -2.761         0.890          -0.290         0              270            0              82
  19  SaltShaker      -0.509         0.747          -2.632         0              0              0              50
  20  PepperShaker    -3.882         0.686          -0.491         0              0              0              80
  21  PepperShaker    -0.465         0.078          -1.330         0              0              0              61
  22  Apple           -3.654         0.821          -3.798         0              199.125        0              81
  23  Apple           -3.942         0.751          -0.248         0              0              0              80
  24  SoapBottle      -4.039         0.758          -3.109         0              109.125        0              81
  25  Pot             -0.437         0.961          -2.243         0              0              0              48
  26  Fork            -0.465         0.747          -1.413         0              270            0              49
  27  Cup             -0.283         1.489          -0.413         0              270            0              75
  28  Tomato          -0.293         1.337          -0.762         0              270            0              75
  29  Pan             -0.222         0.961          -1.845         0              180            0              47
  30  Plate           -0.321         1.502          -0.646         0              270            0              75
  31  Bread           -3.565         0.976          -0.633         0              270            0              82
  32  Spatula         -0.701         0.828          -3.627         0              45             0              74
  33  Knife           -3.163         0.920          -0.376         0              270            0              82
  34  SaltShaker      -0.440         0.747          -2.739         0              0              0              50
  35  PepperShaker    -3.364         0.890          -0.376         0              270            0              82
  36  ButterKnife     -3.364         0.894          -0.462         0              270            0              82
  37  Apple           -4.182         0.751          -0.187         0              0              0              80
  38  DishSponge      -1.123         0.753          -3.505         0              0              0              51
  39  Potato          -3.732         0.792          -3.376         0              334.125        0              81
  40  Egg             -3.942         0.731          -0.126         0              0              0              80
  41  Spoon           -3.935         0.761          -2.959         0              334.125        0              81
  42  Lettuce         -0.397         1.033          -2.611         0              0              0              45
  43  Mug             -2.359         0.889          -0.462         0              270            0              82
  44  Bowl            -2.560         0.892          -0.376         0              270            0              82
  45  CounterTop      -1.937         0.977          -3.673         0              0              0
  46  StoveBurner     -0.437         0.924          -1.845         0              180            0
  47  StoveBurner     -0.222         0.924          -1.845         0              180            0
  48  StoveBurner     -0.437         0.924          -2.243         0              0              0
  49  Drawer          -0.500         0.779          -1.450         0              0              0
  50  Drawer          -0.481         0.777          -2.739         0              0              0
  51  Drawer          -1.154         0.782          -3.499         0              0              0
  52  Cabinet         -0.337         2.110          -0.390         0              0              0
  53  Cabinet         -0.337         2.110          -1.272         0              0              0
  54  Cabinet         -0.337         2.110          -1.631         0              0              0
  55  Cabinet         -0.337         2.110          -2.497         0              0              0
  56  Cabinet         -0.337         1.891          -1.286         0              0              0
  57  Cabinet         -0.346         1.891          -3.293         0              0              0
  58  Cabinet         -0.629         0.388          -2.513         0              0              0
  59  Cabinet         -0.633         0.388          -3.008         0              0              0
  60  Cabinet         -1.010         0.388          -3.368         0              0              0
  61  Cabinet         -0.629         0.388          -1.614         0              0              0
  62  Cabinet         -0.327         1.886          -2.513         0              0              0
  63  CounterTop      -0.326         0.976          -1.450         0              0              0
  64  StoveBurner     -0.222         0.924          -2.243         0              0              0
  65  Sink            -0.600         0.929          -3.388         0              0              0
  66  StoveKnob       -0.617         0.899          -1.833         315            90             180
  67  StoveKnob       -0.617         0.899          -2.129         315            90             180
  68  StoveKnob       -0.617         0.899          -2.289         315            90             180
  69  StoveKnob       -0.617         0.899          -1.975         315            90             180
  70  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  71  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  72  Window          -1.389         1.610          -4.113         90             0              0
  73  LightSwitch     -4.372         1.493          -1.031         0              90             0
  74  SinkBasin       -0.614         0.802          -3.384         0              315            0
  75  Fridge          -0.314         0.0            -0.646         0              0              0
  76  Toaster         -1.970         0.930          -3.763         0              0              0
  77  Microwave       -0.216         1.470          -2.054         0              270            0
  78  Blinds          -1.373         2.205          -3.961         0              0              0
  79  Faucet          -0.393         0.930          -3.614         270            225            0
  80  SideTable       -4.030         0.002          -0.301         0              185.034        0
  81  DiningTable     -3.586         0.000          -3.258         0              0              0
  82  DiningTable     -3.224         -0.003         -0.453         0              0              0
  83  Shelf           -4.030         0.259          -0.301         0              185.034        0
  84  Shelf           -4.030         0.489          -0.301         0              185.034        0
  85  EastWall
  86  EastWall
  87  SouthWall

Plan:
STEP 1: Turn left, walk to the square table with knife  on top of it. | STEP 2: Pick up the apple from the square table. | STEP 3: Turn around, walk to the round table, turn left, walk to the oven | STEP 4: Put the apple in the oven, wait 2 seconds, take the apple out of the oven | STEP 5: Turn around and walk to the door | STEP 6: Turn right, put the apple back onto the square table. | END