Task: To heat a piece of apple and place it by the knife to the right of 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           -3.75          0.900          1.5            0              0              0
   1  Potato          -3.572         1.592          2.778          0              90             0              65
   2  Ladle           -0.286         1.064          1.918          355.999        0              351.886        48
   3  DishSponge      -1.199         0.931          0.428          0              0              0              70
   4  DishSponge      -2.497         0.095          0.613          0              0              0              51
   5  Pot             -3.475         1.133          0.227          0              90             0              44
   6  Fork            -1.288         0.932          0.359          0              0              0              70
   7  Spoon           -1.950         0.903          0.578          0              0              0              56
   8  Spoon           -0.662         1.048          2.817          0              0              0              48
   9  Spatula         -0.538         1.063          1.920          0              0              0              48
  10  Egg             -1.473         1.184          0.108          0              0              0              45
  11  Egg             -3.593         0.142          1.948          0              0              0              69
  12  Plate           -0.908         1.046          2.817          0              0              0              48
  13  Tomato          -3.747         0.153          1.978          0              0              0              69
  14  Bowl            -3.506         1.284          3.061          0              90             0              65
  15  Bowl            -0.785         1.045          1.920          0              0              0              48
  16  SaltShaker      -1.640         0.045          0.551          0              0              0              63
  17  PepperShaker    -2.184         0.484          0.646          0              0              0              49
  18  PepperShaker    -2.370         0.898          0.511          0              0              0              57
  19  Lettuce         -3.506         1.639          3.061          0              90             0              65
  20  Mug             -0.785         1.042          3.042          0              0              0              48
  21  Fork            -1.199         0.932          0.498          0              0              0              70
  22  SoapBottle      -1.195         0.049          0.664          0              0              0              52
  23  Pot             -3.572         0.916          2.991          0              90             0              65
  24  Ladle           -0.662         1.087          3.042          0              0              0              48
  25  Potato          -1.199         0.962          0.290          0              0              0              70
  26  Plate           -3.506         1.285          2.849          0              90             0              65
  27  Bread           -0.177         1.125          1.903          0              0              355.045        48
  28  Lettuce         -0.908         1.125          2.593          0              0              0              48
  29  Spatula         -0.662         1.063          2.593          0              0              0              48
  30  Pan             -0.266         1.038          2.561          0              0              0              48
  31  Egg             -1.199         0.961          0.221          0              0              0              70
  32  Cup             -0.168         1.045          2.369          0              0              0              48
  33  SaltShaker      -1.076         0.045          0.324          0              0              0              52
  34  Knife           -0.662         1.079          2.369          0              0              0              48
  35  Bowl            -0.495         1.038          2.223          0              0              0              48
  36  PepperShaker    -0.785         1.043          3.266          0              0              0              48
  37  ButterKnife     -1.553         0.931          0.498          0              0              0              70
  38  Apple           -3.572         0.979          2.778          0              90             0              65
  39  Tomato          -0.908         1.088          2.369          0              0              0              48
  40  DishSponge      -1.642         0.931          0.498          0              0              0              70
  41  Spoon           -0.662         1.049          2.144          0              0              0              48
  42  Mug             -1.156         0.044          0.551          0              0              0              52
  43  StoveKnob       -3.322         1.053          0.709          45             0              0
  44  StoveBurner     -3.474         1.097          0.227          0              180            0
  45  Sink            -1.394         0.982          0.439          0              0              0
  46  StoveBurner     -3.474         1.097          0.479          0              180            0
  47  StoveKnob       -3.164         1.053          0.709          45             0              0
  48  DiningTable     -0.620         0.017          2.486          0              0              0
  49  Drawer          -2.043         0.608          0.594          0              0              0
  50  Drawer          -2.043         0.216          0.594          0              0              0
  51  Drawer          -2.498         0.216          0.594          0              0              0
  52  Cabinet         -1.001         0.393          0.734          0              0              0
  53  StoveBurner     -3.000         1.097          0.480          0              0              0
  54  StoveKnob       -3.492         1.053          0.709          45             0              0
  55  CounterTop      -3.856         1.160          0.379          0              0              0
  56  Drawer          -2.043         0.937          0.599          0              0              0
  57  Drawer          -2.509         0.937          0.599          0              0              0
  58  CounterTop      -2.280         1.160          0.379          0              0              0
  59  StoveKnob       -2.985         1.053          0.709          45             0              0
  60  CounterTop      -0.514         1.160          0.492          0              0              0
  61  Drawer          -2.498         0.608          0.594          0              0              0
  62  StoveBurner     -3.000         1.097          0.227          0              0              0
  63  Cabinet         -1.733         0.393          0.734          0              0              0
  64  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  65  Fridge          -3.519         0.0            2.717          0              90             0
  66  Window          -1.394         1.924          0.014          90             0              0
  67  Window          -3.266         1.924          0.014          90             0              0
  68  Toaster         -0.225         1.038          2.865          0              270            0
  69  GarbageCan      -3.696         0.002          2.008          0              0              0
  70  SinkBasin       -1.389         0.921          0.428          0              0              0
  71  Microwave       -0.366         1.113          0.430          0              0              0
  72  HousePlant      -2.155         1.101          0.169          0              332.897        0
  73  LightSwitch     -2.584         1.299          3.5            0              180            0
  74  Faucet          -1.393         1.373          0.168          0              270            0
  75  NorthWall
  76  SouthWall
  77  SouthWall

Plan:
STEP 1: Turn right and cross the room and turn right to face the sink. | STEP 2: Pick up the knife on the right in the sink. | STEP 3: Turn right and cross the room to face the fridge. | STEP 4: Cut the apple in the fridge into three slices. | STEP 5: Turn left and walk over to face the counter to the left of the sink. | STEP 6: Place the knife on the counter. | STEP 7: Turn right and cross the room to face the fridge. | STEP 8: Pick up a piece of apple in the fridge. | STEP 9: Turn left and walk over to face the microwave. | STEP 10: Heat the apple piece in the microwave and remove it. | STEP 11: TUrn right to face the counter. | STEP 12: Place the apple piece on the counter. | END