Task: Place a piece of microwaved fruit on the black table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.900          -1.75          0              180            0
   1  Potato          -0.252         1.318          -0.529         0              270            0              68
   2  Potato          -0.334         1.318          -0.646         0              270            0              68
   3  DishSponge      -0.126         0.941          -2.953         0              45             0              38
   4  ButterKnife     -1.471         0.942          -3.751         0              0              0              38
   5  ButterKnife     -2.962         0.894          -0.548         0              270            0              75
   6  Pot             -2.560         0.895          -0.462         0              270            0              75
   7  Fork            -3.699         0.760          -3.016         0              334.125        0              74
   8  Spoon           -0.236         0.942          -1.319         0              0              0              56
   9  Spoon           -0.543         0.753          -2.632         0              270            0              43
  10  Cup             -4.064         0.760          -3.466         0              244.125        0              74
  11  Plate           -0.359         1.502          -0.529         0              270            0              68
  12  Plate           -4.062         0.704          -0.248         0              0              0              73
  13  SoapBottle      -0.469         0.078          -2.624         0              0              0              51
  14  SoapBottle      -3.882         0.688          -0.187         0              0              0              73
  15  Bowl            -0.164         1.937          -1.844         0              0              0              47
  16  Lettuce         -0.321         1.579          -0.878         0              270            0              68
  17  SoapBottle      -1.169         0.940          -3.804         0              45             0              38
  18  Pot             -0.222         0.961          -1.845         0              180            0              40
  19  Fork            -2.359         0.895          -0.376         0              270            0              75
  20  Cup             -4.002         0.691          -0.430         0              0              0              73
  21  Tomato          -0.585         0.864          -3.512         0              315            0              67
  22  Pan             -0.222         0.961          -2.243         0              0              0              57
  23  Plate           -3.732         0.774          -3.376         0              334.125        0              74
  24  Bread           -3.364         0.976          -0.204         0              270            0              75
  25  Spatula         -0.168         0.957          -2.611         0              0              0              38
  26  Knife           -3.163         0.920          -0.290         0              270            0              75
  27  SaltShaker      -0.078         0.937          -1.362         0              0              0              56
  28  PepperShaker    -0.509         0.748          -2.899         0              0              0              43
  29  ButterKnife     -3.163         0.894          -0.548         0              270            0              75
  30  Apple           -4.242         0.752          -0.369         0              0              0              73
  31  DishSponge      -0.321         0.941          -2.993         0              45             0              38
  32  Potato          -4.242         0.722          -0.126         0              0              0              73
  33  Egg             -4.182         0.731          -0.491         0              0              0              73
  34  Spoon           -0.315         0.942          -1.494         0              0              0              56
  35  Lettuce         -3.541         0.851          -3.626         0              334.125        0              74
  36  Mug             -2.514         0.972          -3.649         0              0              0              64
  37  Bowl            -0.351         1.502          -3.471         0              45             0              50
  38  CounterTop      -1.937         0.977          -3.673         0              0              0
  39  StoveBurner     -0.437         0.924          -1.845         0              180            0
  40  StoveBurner     -0.222         0.924          -1.845         0              180            0
  41  StoveBurner     -0.437         0.924          -2.243         0              0              0
  42  Drawer          -0.500         0.779          -1.450         0              0              0
  43  Drawer          -0.481         0.777          -2.739         0              0              0
  44  Drawer          -1.154         0.782          -3.499         0              0              0
  45  Cabinet         -0.337         2.110          -0.390         0              0              0
  46  Cabinet         -0.337         2.110          -1.272         0              0              0
  47  Cabinet         -0.337         2.110          -1.631         0              0              0
  48  Cabinet         -0.337         2.110          -2.497         0              0              0
  49  Cabinet         -0.337         1.891          -1.286         0              0              0
  50  Cabinet         -0.346         1.891          -3.293         0              0              0
  51  Cabinet         -0.629         0.388          -2.513         0              0              0
  52  Cabinet         -0.633         0.388          -3.008         0              0              0
  53  Cabinet         -1.010         0.388          -3.368         0              0              0
  54  Cabinet         -0.629         0.388          -1.614         0              0              0
  55  Cabinet         -0.327         1.886          -2.513         0              0              0
  56  CounterTop      -0.326         0.976          -1.450         0              0              0
  57  StoveBurner     -0.222         0.924          -2.243         0              0              0
  58  Sink            -0.600         0.929          -3.388         0              0              0
  59  StoveKnob       -0.617         0.899          -1.833         315            90             180
  60  StoveKnob       -0.617         0.899          -2.129         315            90             180
  61  StoveKnob       -0.617         0.899          -2.289         315            90             180
  62  StoveKnob       -0.617         0.899          -1.975         315            90             180
  63  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  64  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  65  Window          -1.389         1.610          -4.113         90             0              0
  66  LightSwitch     -4.372         1.493          -1.031         0              90             0
  67  SinkBasin       -0.614         0.802          -3.384         0              315            0
  68  Fridge          -0.314         0.0            -0.646         0              0              0
  69  Toaster         -1.970         0.930          -3.763         0              0              0
  70  Microwave       -0.216         1.470          -2.054         0              270            0
  71  Blinds          -1.373         2.205          -3.961         0              0              0
  72  Faucet          -0.393         0.930          -3.614         270            225            0
  73  SideTable       -4.030         0.002          -0.301         0              185.034        0
  74  DiningTable     -3.586         0.000          -3.258         0              0              0
  75  DiningTable     -3.224         -0.003         -0.453         0              0              0
  76  Shelf           -4.030         0.259          -0.301         0              185.034        0
  77  Shelf           -4.030         0.489          -0.301         0              185.034        0
  78  EastWall
  79  EastWall
  80  SouthWall

Plan:
STEP 1: Turn left, turn left, walk straight towards the white table | STEP 2: Pick up the silver knife on the table | STEP 3: Turn right, walk straight towards the fridge | STEP 4: Open the fridge, slice the fruit inside, and close the fridge | STEP 5: Turn right, walk straight, turn left towards the cabinet | STEP 6: Place the knife on top of the cabinet | STEP 7: Turn left, walk straight, turn right towards the fridge | STEP 8: Open the fridge and take out the sliced piece of fruit | STEP 9: Close the fridge, turn right, walk straight, turn left towards the stove | STEP 10: Place the fruit in the microwave above, set the timer, close the microwave, open the microwave, take out the fruit | STEP 11: Turn left, turn left, walk straight, turn right towards the small black table | STEP 12: Place the fruit on top of the small black table | END