Task: Place a heated apple slice on a shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          2.75           0              0              0
   1  Pan             -1.081         0.949          -1.527         0              0              0              71
   2  Pan             -1.081         0.949          -1.81          0              0              0              66
   3  Pen             -1.737         0.775          -1.500         0              90             0              75
   4  Pen             -1.712         0.913          0.032          0              0              0              72
   5  Potato          1.426          1.409          1.725          0              270            0              89
   6  Ladle           -0.552         0.955          -1.704         0              0              0              70
   7  Ladle           1.342          1.700          -0.815         0              0              0              58
   8  Kettle          1.414          1.163          -1.688         0              0              0              76
   9  Glassbottle     -0.342         0.117          -1.635         0              0              0              56
  10  Fork            -1.957         0.911          0.291          0              0              0              72
  11  Spoon           1.002          0.774          0.431          0              0              0              47
  12  Spoon           0.585          0.774          -1.533         0              0              0              74
  13  Pot             -1.431         0.949          -1.525         0              0              0              78
  14  Egg             1.341          0.243          1.108          0              0              0              87
  15  SoapBottle      -2.107         0.111          -1.632         0              0              0              73
  16  Tomato          1.459          0.254          1.051          0              0              0              87
  17  Bowl            1.343          0.911          -1.672         0              0              0              70
  18  Bowl            1.325          1.368          2.351          0              270            0              89
  19  Lettuce         1.414          1.231          -1.002         0              0              0              76
  20  Apple           1.302          0.249          1.022          0              0              0              87
  21  Tomato          1.325          1.407          1.851          0              270            0              89
  22  Glassbottle     0.149          0.920          -1.708         0              270            0              49
  23  Knife           -2.323         0.940          0.463          0              0              0              72
  24  Plate           0.049          0.115          -1.583         0              90             0              67
  25  Fork            0.251          0.920          -1.657         0              270            0              49
  26  Ladle           0.758          0.955          -1.789         0              0              0              70
  27  Potato          1.426          0.953          -1.331         0              0              0              70
  28  Lettuce         -2.079         0.979          0.463          0              0              0              72
  29  Kettle          1.454          1.163          -1.345         0              0              0              76
  30  Pen             -1.962         0.913          -1.707         0              0              0              65
  31  SaltShaker      1.150          0.112          0.606          0              0              0              53
  32  Cup             1.034          0.118          0.313          0              0              0              53
  33  Egg             0.320          0.948          -1.808         0              270            0              49
  34  Spatula         0.664          0.926          -1.619         0              0              0              70
  35  Bowl            0.726          1.656          -1.839         0              0              0              59
  36  SprayBottle     -1.353         1.857          -1.802         0              0              0              63
  37  Pan             -1.957         0.910          0.118          0              0              0              72
  38  SoapBottle      -2.323         0.910          0.204          0              0              0              72
  39  Pot             -1.431         0.949          -1.81          0              0              0              80
  40  ButterKnife     1.093          0.911          -0.990         0              0              0              70
  41  PepperShaker    0.200          1.650          -1.764         0              0              0              60
  42  DishSponge      0.183          0.919          -1.556         0              270            0              49
  43  Bread           1.164          0.975          -0.16          0              300.000        0              70
  44  Apple           1.323          1.754          1.775          0              270            0              89
  45  Spoon           0.758          0.912          -1.619         0              0              0              74
  46  Mug             1.070          0.957          -1.641         0              0              0              86
  47  Drawer          0.860          0.75           0.430          0              0              0
  48  Drawer          0.871          0.75           -1.134         0              0              0
  49  Sink            0.156          0.817          -1.801         0              270            0
  50  Cabinet         -0.868         2.005          -1.690         0              0              0
  51  Cabinet         -1.661         2.059          -1.684         0              90             0
  52  Cabinet         -0.817         2.059          -1.689         0              0              0
  53  Cabinet         0.860          0.402          0.665          0              0              0
  54  Cabinet         0.860          0.402          -0.552         0              0              0
  55  Cabinet         0.860          0.402          -1.365         0              0              0
  56  Cabinet         -0.244         0.402          -1.389         0              0              0
  57  Cabinet         -0.815         0.402          -1.389         0              0              0
  58  Cabinet         1.159          2.059          -0.334         0              0              0
  59  Cabinet         0.488          2.059          -1.689         0              0              0
  60  Cabinet         -0.193         2.059          -1.689         0              0              0
  61  Drawer          0.860          0.75           -0.699         0              0              0
  62  Cabinet         1.159          2.059          -1.019         0              0              0
  63  Cabinet         -1.611         2.005          -1.690         0              0              0
  64  Cabinet         0.832          0.401          -1.393         0              90             0
  65  Drawer          -2.105         0.75           -1.389         0              0              0
  66  StoveBurner     -1.081         0.941          -1.809         0              0              0
  67  Cabinet         -0.202         0.401          -1.391         0              90             0
  68  CounterTop      -1.973         0.945          -1.707         0              0              0
  69  Drawer          -0.375         0.75           -1.389         0              0              0
  70  CounterTop      1.164          0.946          -0.649         0              0              0
  71  StoveBurner     -1.081         0.941          -1.527         0              0              0
  72  CounterTop      -2.096         0.945          0.291          0              0              0
  73  Cabinet         -2.237         0.402          -1.389         0              0              0
  74  Drawer          0.584          0.75           -1.389         0              0              0
  75  Drawer          -1.795         0.75           -1.389         0              0              0
  76  CounterTop      1.5            1.197          -0.654         0              0              0
  77  Cabinet         -1.667         0.402          -1.389         0              0              0
  78  StoveBurner     -1.430         0.941          -1.525         0              0              0
  79  Drawer          -0.685         0.75           -1.389         0              0              0
  80  StoveBurner     -1.430         0.941          -1.809         0              0              0
  81  LightSwitch     -2.539         1.289          2.568          0              90             0
  82  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  83  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  84  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  85  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  86  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  87  GarbageCan      1.343          0.015          1.041          0              0              0
  88  HousePlant      1.440          1.153          0.593          0              0              0
  89  Fridge          1.417          0.0            2.101          0              0              0
  90  Window          -0.486         1.452          3.302          90             0              0
  91  SinkBasin       -0.063         0.765          -1.713         0              270            0
  92  Microwave       1.422          1.150          0.022          0              270            0
  93  Toaster         -2.066         0.900          -1.848         0              0              0
  94  Stool           -1.994         0.010          0.882          0              0              0
  95  Faucet          -0.096         1.041          -1.867         0              270            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Go to the bin | STEP 2: Pick up a green apple from the bin | STEP 3: Go to the counter | STEP 4: Put the apple down | STEP 5: Pick up a knife | STEP 6: Cut the apple | STEP 7: Put the knife down | STEP 8: Pick up an apple slice | STEP 9: Go to the microwave | STEP 10: Heat the apple | STEP 11: Go to the counter | STEP 12: Place the apple slice on the counter shelf next to the lettuce | END