Task: To heat a piece of apple and place it on the kitchen table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          2.0            0              90             0
   1  Potato          1.135          1.027          4.624          0              0              0              56
   2  Potato          2.094          1.550          5.876          0              270            0              77
   3  DishSponge      1.182          0.770          4.790          0              0              0              45
   4  ButterKnife     0.167          0.760          6.151          0              135            0              91
   5  Kettle          1.32           0.988          3.848          0              0              0              54
   6  Spatula         0.102          0.775          6.305          0              315            0              91
   7  Spatula         1.497          0.906          2.525          0              0              0              78
   8  Egg             2.094          1.565          6.001          0              270            0              77
   9  Cup             2.051          1.511          5.626          0              270            0              77
  10  Plate           0.674          0.144          0.418          0              0              0              61
  11  Plate           1.573          0.141          2.498          0              0              0              67
  12  Tomato          -0.158         0.809          6.291          0              270            0              91
  13  Bowl            0.150          0.759          6.354          0              270            0              91
  14  SaltShaker      1.500          1.572          1.288          0              0              0              65
  15  SaltShaker      -0.284         0.755          6.787          0              0              0              91
  16  Lettuce         0.257          0.848          6.719          0              225            0              91
  17  Lettuce         -0.443         0.848          6.851          0              135            0              91
  18  Mug             1.384          1.043          0.847          0              270            0              55
  19  Apple           0.059          0.834          6.698          0              225            0              91
  20  Bowl            -0.384         0.991          0.395          0              0              0              55
  21  Bread           1.099          1.048          0.434          0              0              0              55
  22  Egg             1.497          0.940          1.983          0              90             0              78
  23  Knife           -0.611         1.022          0.212          0              0              0              55
  24  Fork            1.318          0.984          0.442          0              0              358.647        55
  25  Apple           1.956          0.155          6.498          0              0              0              79
  26  Kettle          1.317          0.988          4.294          0              0              0              50
  27  Plate           1.079          1.580          0.251          0              0              0              62
  28  SaltShaker      0.622          1.574          0.339          0              0              0              69
  29  Lettuce         1.403          1.081          0.440          0              0              0              55
  30  SoapBottle      1.135          0.992          3.324          0              0              0              55
  31  Spatula         -0.467         0.775          6.666          0              0              0              91
  32  PaperTowelRoll  -0.400         0.864          6.503          0              225            0              91
  33  Pot             0.734          0.981          0.38           0              0              0              55
  34  Potato          1.966          1.550          5.251          0              270            0              77
  35  ButterKnife     -0.549         0.772          0.563          0              0              0              51
  36  PepperShaker    -0.159         0.755          6.787          0              0              0              91
  37  Pan             1.559          0.988          4.294          0              0              0              53
  38  Tomato          -0.510         0.809          6.565          0              135            0              91
  39  DishSponge      -0.221         0.759          6.941          0              0              0              91
  40  Cup             1.322          0.136          3.365          0              0              0              66
  41  Spoon           -0.288         0.761          6.172          0              225            0              91
  42  Mug             -0.049         0.755          6.588          0              225            0              91
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn left and walk across the room to face the kitchen table. | STEP 2: Pick up the knife on the kitchen table. | STEP 3: Walk around to face the side of the kitchen table. | STEP 4: Cut the apple on the table into three slices. | STEP 5: Take a step to the left and face the kitchen table. | STEP 6: Place the knife on the kitchen table. | STEP 7: Take a step to the right to face the apple on the kitchen table. | STEP 8: Pick up a piece of apple on the kitchen table. | STEP 9: Turn left and walk across the room to face the microwave. | STEP 10: Heat the piece of apple in the microwave and remove it. | STEP 11: Turn around and walk across the room and turn left to face the kitchen table. | STEP 12: Place the piece of apple on the kitchen table. | END