Task: Heat an apple slice to place on table

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          -1.25          0              90             0
   1  Potato          -0.490         0.845          -3.260         0              315            0              75
   2  DishSponge      -0.473         0.941          -2.729         0              0              0              46
   3  ButterKnife     -0.721         0.813          -3.491         0              315            0              75
   4  ButterKnife     -0.315         0.941          -1.362         0              0              0              64
   5  Fork            -1.248         0.942          -3.673         0              0              0              46
   6  Spoon           -3.409         0.761          -2.902         0              199.125        0              82
   7  Spoon           -0.157         0.942          -1.450         0              0              0              64
   8  Spatula         -0.740         0.828          -3.588         0              45             0              75
   9  Egg             -0.201         1.616          -1.831         0              270            0              78
  10  Egg             -4.122         0.731          -0.187         0              0              0              81
  11  Cup             -0.429         1.504          -3.658         0              45             0              58
  12  Plate           -3.508         0.774          -3.196         0              244.125        0              82
  13  Plate           -0.212         1.516          -2.700         0              0              0              63
  14  Knife           -4.062         0.716          -0.308         0              0              0              81
  15  Tomato          -0.283         1.539          -0.994         0              270            0              76
  16  Bowl            -3.942         0.688          -0.369         0              0              0              81
  17  Bowl            -0.234         1.573          -1.990         0              270            0              78
  18  Bread           -2.761         0.976          -0.376         0              270            0              83
  19  Bread           -3.364         0.976          -0.376         0              270            0              83
  20  Lettuce         -0.359         1.579          -0.646         0              270            0              76
  21  Lettuce         -3.204         0.851          -3.531         0              109.125        0              82
  22  PepperShaker    -4.062         0.686          -0.309         0              0              0              81
  23  PepperShaker    -0.473         0.937          -1.406         0              0              0              64
  24  Mug             -0.252         1.281          -0.878         0              270            0              76
  25  SoapBottle      -0.236         0.939          -1.494         0              180            0              64
  26  Pot             -0.437         0.961          -1.845         0              180            0              47
  27  Fork            -0.315         0.941          -1.581         0              0              0              64
  28  Cup             -3.364         0.895          -0.633         0              270            0              83
  29  Tomato          -1.077         0.993          -3.711         0              45             0              46
  30  Pan             -0.437         0.961          -2.243         0              0              0              49
  31  Plate           -0.427         0.096          -1.410         0              0              0              62
  32  Bread           -3.839         0.841          -3.570         0              199.125        0              82
  33  Spatula         -0.475         0.765          -2.846         0              90             0              51
  34  Knife           -3.364         0.920          -0.290         0              0              0              83
  35  SaltShaker      -3.396         0.756          -3.073         0              244.125        0              82
  36  PepperShaker    -4.080         0.756          -3.227         0              109.125        0              82
  37  ButterKnife     -3.364         0.894          -0.462         0              0              0              83
  38  Apple           -4.182         0.752          -0.491         0              0              0              81
  39  DishSponge      -0.509         0.080          -2.624         0              0              0              59
  40  Potato          -4.002         0.722          -0.126         0              0              0              81
  41  Egg             -2.359         0.935          -0.462         0              270            0              83
  42  Spoon           -3.676         0.761          -3.348         0              334.125        0              82
  43  Lettuce         -0.283         1.579          -0.297         0              270            0              76
  44  Mug             -2.514         0.972          -3.649         0              0              0              72
  45  Bowl            -3.361         0.758          -3.711         0              334.125        0              82
  46  CounterTop      -1.937         0.977          -3.673         0              0              0
  47  StoveBurner     -0.437         0.924          -1.845         0              180            0
  48  StoveBurner     -0.222         0.924          -1.845         0              180            0
  49  StoveBurner     -0.437         0.924          -2.243         0              0              0
  50  Drawer          -0.500         0.779          -1.450         0              0              0
  51  Drawer          -0.481         0.777          -2.739         0              0              0
  52  Drawer          -1.154         0.782          -3.499         0              0              0
  53  Cabinet         -0.337         2.110          -0.390         0              0              0
  54  Cabinet         -0.337         2.110          -1.272         0              0              0
  55  Cabinet         -0.337         2.110          -1.631         0              0              0
  56  Cabinet         -0.337         2.110          -2.497         0              0              0
  57  Cabinet         -0.337         1.891          -1.286         0              0              0
  58  Cabinet         -0.346         1.891          -3.293         0              0              0
  59  Cabinet         -0.629         0.388          -2.513         0              0              0
  60  Cabinet         -0.633         0.388          -3.008         0              0              0
  61  Cabinet         -1.010         0.388          -3.368         0              0              0
  62  Cabinet         -0.629         0.388          -1.614         0              0              0
  63  Cabinet         -0.327         1.886          -2.513         0              0              0
  64  CounterTop      -0.326         0.976          -1.450         0              0              0
  65  StoveBurner     -0.222         0.924          -2.243         0              0              0
  66  Sink            -0.600         0.929          -3.388         0              0              0
  67  StoveKnob       -0.617         0.899          -1.833         315            90             180
  68  StoveKnob       -0.617         0.899          -2.129         315            90             180
  69  StoveKnob       -0.617         0.899          -2.289         315            90             180
  70  StoveKnob       -0.617         0.899          -1.975         315            90             180
  71  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  72  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  73  Window          -1.389         1.610          -4.113         90             0              0
  74  LightSwitch     -4.372         1.493          -1.031         0              90             0
  75  SinkBasin       -0.614         0.802          -3.384         0              315            0
  76  Fridge          -0.314         0.0            -0.646         0              0              0
  77  Toaster         -1.970         0.930          -3.763         0              0              0
  78  Microwave       -0.216         1.470          -2.054         0              270            0
  79  Blinds          -1.373         2.205          -3.961         0              0              0
  80  Faucet          -0.393         0.930          -3.614         270            225            0
  81  SideTable       -4.030         0.002          -0.301         0              185.034        0
  82  DiningTable     -3.586         0.000          -3.258         0              0              0
  83  DiningTable     -3.224         -0.003         -0.453         0              0              0
  84  Shelf           -4.030         0.259          -0.301         0              185.034        0
  85  Shelf           -4.030         0.489          -0.301         0              185.034        0
  86  EastWall
  87  EastWall
  88  SouthWall

Plan:
STEP 1: Move to the black table to the left of the white table | STEP 2: Pick up the knife on top of the black table with the yellow handle | STEP 3: Slice the apple on top of the black table | STEP 4: Carry the knife to the black table | STEP 5: Place the knife blade side down on the black table in front of the bowl | STEP 6: Move to the black table facing the apple  | STEP 7: Pick up an apple slice from the top of the table | STEP 8: Carry the apple slice to the microwave above the oven | STEP 9: Place the apple inside of the microwave, turn on the microwave, remove apple and shut the microwave | STEP 10: Carry the apple to the black table | STEP 11: Place the apple on the front right corner of the black table | END