Task: Heating up a piece of apple.

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          -2.75          0              0              0
   1  ButterKnife     0.721          0.665          0.630          0              0              0              50
   2  Fork            0.841          0.665          0.326          0              180            0              50
   3  Egg             0.824          1.195          -2.190         0              270            0              65
   4  Egg             0.785          1.195          -1.880         0              270            0              65
   5  Cup             -0.051         0.899          1.187          0              270            0              71
   6  Cup             0.824          1.373          -1.725         0              270            0              65
   7  Plate           -2.054         0.705          -0.983         0              0              0              81
   8  Knife           -1.055         0.926          1.135          355.509        268.730        6.794          71
   9  Knife           -0.051         0.923          0.843          0              0              0              71
  10  Tomato          0.708          0.514          -1.802         0              270            0              65
  11  Tomato          0.841          0.820          -0.625         0              270            0              68
  12  SoapBottle      0.781          0.663          0.387          0              0              0              50
  13  SoapBottle      -0.654         0.899          0.758          0              270            0              71
  14  Bowl            0.949          1.462          0.473          0              0              0              57
  15  Bowl            -1.056         0.890          1.187          0              270            0              71
  16  PepperShaker    0.661          0.661          0.326          0              0              0              50
  17  SaltShaker      0.842          0.012          -0.250         0              0              0              55
  18  SaltShaker      0.601          0.661          0.265          0              0              0              50
  19  Bread           -1.719         0.745          -1.416         0              0              0              81
  20  Mug             0.698          0.941          -1.360         0              270            0              58
  21  Apple           0.785          0.519          -2.190         0              270            0              65
  22  Apple           0.661          0.718          0.630          0              0              0              50
  23  Pot             -1.552         0.930          0.785          0              0              0              49
  24  Plate           -2.023         0.692          -1.447         0              0              0              81
  25  Fork            0.671          0.760          0.002          0              270            0              44
  26  SoapBottle      -0.051         0.899          0.758          0              270            0              71
  27  Apple           0.961          0.718          0.448          0              0              0              50
  28  Pan             -2.097         0.930          1.049          0              0              0              52
  29  Egg             0.799          0.809          -0.790         0              270            0              68
  30  Spatula         0.950          0.898          -0.108         0              90             0              45
  31  Potato          -2.002         0.832          -3.673         0              0              0              67
  32  Cup             0.708          0.663          -1.880         0              270            0              65
  33  SaltShaker      0.781          0.661          0.508          0              0              0              50
  34  PepperShaker    0.949          1.460          0.288          0              0              0              57
  35  ButterKnife     0.803          0.883          -0.245         0              0              0              45
  36  DishSponge      0.676          0.015          -0.637         0              0              0              48
  37  Bread           0.149          0.944          1.015          0              270            0              71
  38  Lettuce         -1.228         0.974          0.996          14.947         58.918         116.047        71
  39  Tomato          -1.260         0.100          -3.647         0              270            0              60
  40  Spoon           0.817          0.760          -0.061         0              0              0              44
  41  Knife           1.070          0.906          -0.611         0              90             0              45
  42  Mug             0.901          0.659          0.569          0              0              0              50
  43  Bowl            0.858          1.462          -0.084         0              0              0              56
  44  Drawer          0.706          0.766          -0.125         0              0              0
  45  CounterTop      0.792          0.919          -0.108         0              0              0
  46  Mirror          1.093          1.602          -0.643         0              0              0
  47  StoveBurner     -2.096         0.890          0.785          0              0              0
  48  Cabinet         0.507          0.345          -0.426         0              0              0
  49  StoveBurner     -1.552         0.890          0.785          0              0              0
  50  SideTable       0.770          -0.030         0.443          0              0              0
  51  Sink            0.753          0.882          -0.680         0              0              0
  52  StoveBurner     -2.096         0.890          1.049          0              0              0
  53  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  54  StoveBurner     -1.554         0.890          1.049          0              0              0
  55  Cabinet         0.507          0.345          0.156          0              0              0
  56  Cabinet         0.717          1.822          -0.398         0              0              0
  57  Cabinet         0.717          1.822          0.669          0              0              0
  58  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  59  Toaster         -0.522         0.886          1.081          0              180            0
  60  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  61  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  62  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  63  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  65  Fridge          0.680          -0.031         -1.957         0              0              0
  66  Window          -2.424         1.639          -2.453         90             270            0
  67  Microwave       -1.994         0.690          -3.651         0              0              0
  68  SinkBasin       0.757          0.762          -0.688         0              270            0
  69  LightSwitch     1.102          1.368          -3.737         0              270            0
  70  Shelf           -0.350         0.124          0.857          0              0              0
  71  DiningTable     -0.350         -0.025         0.857          0              0              0
  72  DiningTable     -1.909         -0.032         -3.507         0              0              0
  73  Blinds          -2.343         2.151          -2.437         0              270            0
  74  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  75  AluminumFoil    0.751          0.225          0.287          0              0              0
  76  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  77  Shelf           0.771          0.226          0.445          0              0              0
  78  Shelf           0.771          0.456          0.446          0              0              0
  79  Faucet          1.025          0.873          -0.678         270            180            0
  80  Shelf           -0.350         0.497          0.857          0              0              0
  81  DiningTable     -1.929         -0.035         -1.398         0              90             0
  82  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Go forward towards the white table and then turn right to face the small brown table.  | STEP 2: Pick up the knife off of the table.  | STEP 3: Slice the apply on the brown table.  | STEP 4: Turn around and to your right face the white table.  | STEP 5: cut the loaf of bread on the table.  | STEP 6: Turn back to face the brown table on your right. | STEP 7: Pick up a slice of the apple off of the table. | STEP 8: Turn around and head left, then turn right to face the microwave on the white table in the corner. | STEP 9: Put the apple in the microwave and turn on the microwave and then open the microwave and take the apple out. | STEP 10: Turn to your left and then left again and head back to the brown table on your right.  | STEP 11: Put the apple slice on the brown table.  | END