Task: Heat a piece of apple as well as store the apple in the cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          7.25           0              90             0
   1  Potato          2.137          1.550          6.001          0              270            0              94
   2  Potato          1.135          1.027          0.895          0              0              0              72
   3  DishSponge      -0.345         0.771          0.620          0              0              0              68
   4  ButterKnife     -0.486         0.760          6.151          0              225            0              108
   5  ButterKnife     0.305          0.760          6.416          0              270            0              108
   6  Kettle          -0.413         0.145          0.353          0              0              0              80
   7  Pot             1.32           0.988          3.848          0              0              0              71
   8  Pot             1.317          0.988          4.294          0              0              0              67
   9  Spoon           1.225          0.993          1.577          0              180            0              72
  10  Spoon           -0.481         0.773          0.563          0              90             0              68
  11  Spatula         1.292          0.786          3.360          0              0              0              65
  12  Spatula         -0.413         0.787          0.451          0              0              0              68
  13  Fork            -0.246         0.760          6.568          0              315            0              108
  14  Fork            -0.549         0.772          0.620          0              270            0              68
  15  Egg             0.028          0.810          6.169          0              0              0              108
  16  Egg             -0.159         0.810          6.941          0              0              0              108
  17  Cup             -0.135         0.756          6.237          0              225            0              108
  18  Cup             2.009          1.511          5.251          0              270            0              94
  19  Plate           -0.384         0.993          0.578          0              0              0              72
  20  Plate           1.403          0.993          0.213          0              0              0              72
  21  Knife           0.305          0.789          6.666          0              0              0              108
  22  Knife           1.314          1.022          3.231          0              90             0              72
  23  Tomato          -0.284         0.809          6.941          0              0              0              108
  24  Tomato          1.493          1.042          3.417          0              0              0              72
  25  SoapBottle      -0.535         0.992          0.212          0              0              0              72
  26  SoapBottle      1.490          0.140          2.498          0              0              0              84
  27  Bowl            1.573          0.139          3.439          0              0              0              83
  28  Bowl            0.958          1.578          0.251          0              0              0              79
  29  PepperShaker    1.135          0.987          0.440          0              0              0              72
  30  PepperShaker    0.620          0.987          0.670          0              0              0              72
  31  SaltShaker      1.225          0.987          0.213          0              0              0              72
  32  SaltShaker      -0.552         0.139          0.201          0              0              0              80
  33  Bread           0.102          0.829          6.305          0              135            0              108
  34  Apple           1.135          1.067          4.762          0              0              0              73
  35  Apple           1.135          1.067          3.511          0              0              0              72
  36  Apple           2.137          1.590          5.751          0              270            0              94
  37  Bowl            0.305          0.759          6.541          0              270            0              108
  38  Bread           1.135          1.062          1.350          0              0              0              72
  39  Egg             1.493          1.042          3.511          0              0              0              72
  40  Knife           0.735          0.802          0.563          0              270            0              64
  41  Fork            -0.221         0.760          6.169          0              0              0              108
  42  Apple           1.582          1.067          0.440          0              0              0              72
  43  Kettle          1.593          0.981          3.25           0              255.000        0              72
  44  Plate           1.238          0.141          2.720          0              0              0              84
  45  SaltShaker      -0.074         1.574          0.382          0              0              0              85
  46  Lettuce         1.449          0.932          2.050          0              0              0              95
  47  SoapBottle      -0.096         0.760          6.787          0              0              0              108
  48  Spatula         -0.467         0.775          6.354          0              180            0              108
  49  PaperTowelRoll  2.154          0.185          6.528          0              0              0              96
  50  Pot             1.562          0.988          3.848          0              0              0              66
  51  Potato          2.094          1.550          5.376          0              270            0              94
  52  ButterKnife     0.847          0.992          0.578          0              0              0              72
  53  PepperShaker    0.081          0.755          6.503          0              135            0              108
  54  Pan             1.313          0.985          4.284          0              0              0              67
  55  Tomato          -0.618         0.809          6.284          0              225            0              108
  56  DishSponge      1.956          0.080          6.498          0              0              0              96
  57  Cup             1.966          1.511          5.501          0              270            0              94
  58  Spoon           0.056          0.772          0.507          0              0              0              69
  59  Mug             -0.531         0.755          6.763          0              135            0              108
  60  Cabinet         1.307          2.455          4.360          0              0              0
  61  Cabinet         1.054          0.422          1.710          0              0              0
  62  Drawer          1.280          0.808          4.718          0              0              0
  63  Cabinet         1.307          2.455          3.607          0              0              0
  64  Drawer          0.736          0.802          0.521          0              0              0
  65  Drawer          1.276          0.802          3.291          0              0              0
  66  StoveBurner     1.562          0.982          3.848          0              0              0
  67  StoveBurner     1.317          0.982          4.294          0              0              0
  68  Drawer          -0.482         0.802          0.521          0              0              0
  69  Drawer          0.124          0.802          0.521          0              0              0
  70  StoveBurner     1.559          0.982          4.294          0              0              0
  71  StoveBurner     1.320          0.982          3.848          0              0              0
  72  CounterTop      1.391          1.028          0.897          0              0              0
  73  CounterTop      1.391          1.028          4.716          0              0              0
  74  Cabinet         1.054          0.422          4.548          0              0              0
  75  Cabinet         1.317          2.134          0.517          0              0              0
  76  Cabinet         1.317          2.134          4.889          0              0              0
  77  Cabinet         1.317          2.134          3.095          0              0              0
  78  Cabinet         0.443          0.422          0.743          0              0              0
  79  Cabinet         1.270          2.134          0.434          0              0              0
  80  Cabinet         -0.775         0.422          0.743          0              0              0
  81  Cabinet         -0.168         0.422          0.743          0              0              0
  82  Cabinet         1.317          2.134          1.534          0              0              0
  83  Cabinet         1.054          0.422          2.990          0              0              0
  84  Cabinet         1.054          0.422          2.944          0              0              0
  85  Cabinet         -0.263         2.134          0.434          0              0              0
  86  Cabinet         0.252          2.134          0.434          0              0              0
  87  Sink            1.391          1.006          2.326          0              0              0
  88  Microwave       0.108          0.981          0.262          0              0              0
  89  HousePlant      -0.165         0.826          6.444          0              0              0
  90  CoffeeMachine   1.551          0.982          0.953          0              270            0
  91  Toaster         1.473          0.981          4.715          0              270            0
  92  Window          -2.065         1.916          3.626          90             90             0
  93  Window          1.763          2.007          2.299          90             270            0
  94  Fridge          2.035          0.0            5.625          0              0              0
  95  SinkBasin       1.387          0.880          2.338          0              90             0
  96  GarbageCan      2.001          -0.044         6.503          0              0              0
  97  StoveKnob       1.140          0.934          3.987          45             270            0
  98  StoveKnob       1.140          0.934          4.309          45             270            0
  99  StoveKnob       1.140          0.934          4.140          45             270            0
 100  StoveKnob       1.140          0.934          3.824          45             270            0
 101  Vase            -0.226         0.834          6.993          0              0              0
 102  Vase            2.098          0.043          7.070          0              257.232        0
 103  Vase            -0.594         0.835          6.130          0              225            0
 104  LightSwitch     -2.0           1.549          6.045          0              90             0
 105  Safe            2.046          1.072          7.054          0              257.232        0
 106  Faucet          1.534          1.025          2.371          0              294.391        0
 107  Blinds          1.738          2.563          2.312          0              90             0
 108  DiningTable     -0.156         0.000          6.474          0              0              0
 109  Chair           0.291          0.002          6.142          0              310.162        0
 110  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn around, walk halfway across the room, then turn right and walk forward to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: take a step to the left to face the apple on the counter. | STEP 4: cut the apple on the counter into three pieces. | STEP 5: Take a step to the right and face the cabinet below the sink. | STEP 6: Put the knife in the cabinet below the sink. | STEP 7: Take a step to the left to face the apple on the sink. | STEP 8: Pick up a piece of apple on the counter. | STEP 9: Turn to the right and walk forward to face the microwave on the counter. | STEP 10: Heat the apple in the microwave and remove it. | STEP 11: Turn around, walk across the room, then turn right to face the cabinet. | STEP 12: Place the piece of apple on the top shelf of the cabinet on the right side. | END