Task: To heat a piece of apple and place it on the end of the table below the wine.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.914          1.25           0              270            0
   1  Pan             -0.673         0.985          3.988          0              270            0              73
   2  Potato          -0.440         1.306          4.062          0              180            0              73
   3  Potato          -0.323         1.574          4.136          0              90             0              73
   4  DishSponge      -2.402         0.915          3.783          0              0              0              47
   5  DishSponge      -1.793         0.789          3.662          0              0              0              77
   6  ButterKnife     -0.994         0.891          0.358          0              90             0              83
   7  WineBottle      -3.463         0.916          1.106          0              0              0              56
   8  WineBottle      -2.022         0.916          4.188          0              0              0              47
   9  Spoon           -1.655         0.892          0.255          0              90             0              83
  10  Pot             -3.424         0.966          1.971          0              0              0              55
  11  Egg             -1.391         0.926          0.152          0              90             0              83
  12  Egg             -1.256         0.122          3.788          0              270            0              79
  13  Cup             -3.176         0.915          1.440          0              0              0              56
  14  Tomato          -1.921         0.858          3.737          0              0              0              77
  15  Tomato          -1.127         0.960          0.255          0              90             0              83
  16  SaltShaker      -3.442         1.455          2.846          0              0              0              54
  17  PepperShaker    -1.523         0.887          0.049          0              90             0              83
  18  PepperShaker    -3.176         0.911          3.336          0              0              0              47
  19  Bread           -3.463         0.997          1.273          0              0              0              56
  20  Mug             -3.442         1.541          2.068          0              90             0              78
  21  Mug             -3.426         0.945          3.275          0              90             0              47
  22  Apple           -1.391         0.951          -0.053         0              90             0              83
  23  Apple           -1.523         0.951          -0.053         0              90             0              83
  24  Egg             -1.161         0.122          3.724          0              270            0              79
  25  Knife           -1.391         0.915          0.461          0              180            0              83
  26  Fork            -1.787         0.892          0.461          0              90             0              83
  27  Bread           -0.994         0.978          -0.053         0              90             0              83
  28  Potato          -0.206         0.755          3.817          0              180            0              73
  29  Plate           -3.005         0.904          3.677          0              0              0              47
  30  Pot             -3.424         0.966          2.374          0              0              0              53
  31  Kettle          -3.148         0.966          2.374          0              0              0              50
  32  WineBottle      -1.127         0.892          0.564          0              90             0              83
  33  Bowl            -3.654         0.914          1.357          0              0              0              56
  34  Tomato          -0.673         1.610          4.067          0              180            0              73
  35  Cup             -1.707         0.080          3.547          0              0              0              52
  36  Spatula         -3.368         0.930          1.189          0              180            0              56
  37  SoapBottle      -1.259         0.891          0.358          0              90             0              83
  38  Lettuce         -1.759         0.974          0.085          0              0              0              83
  39  Pan             -2.614         0.902          3.620          0              0              0              47
  40  Apple           -3.654         0.975          1.106          0              0              0              56
  41  SaltShaker      -2.840         0.076          3.739          0              0              0              59
  42  PepperShaker    -1.391         0.887          0.358          0              90             0              83
  43  ButterKnife     -1.655         0.891          0.255          0              90             0              83
  44  DishSponge      -3.113         0.083          1.278          0              0              0              66
  45  Spoon           -3.117         0.737          2.825          0              316.340        0              49
  46  Mug             -0.089         1.536          4.170          0              180            0              73
  47  CounterTop      -3.381         0.950          3.335          0              0              0
  48  Drawer          -3.121         0.775          1.357          0              0              0
  49  Drawer          -3.121         0.777          2.916          0              0              0
  50  StoveBurner     -3.148         0.958          2.374          0              0              0
  51  Sink            -1.797         0.917          3.660          0              0              0
  52  Cabinet         -1.421         0.388          3.459          0              0              0
  53  StoveBurner     -3.424         0.958          2.374          0              0              0
  54  Cabinet         -3.365         1.931          2.676          0              0              0
  55  StoveBurner     -3.424         0.958          1.971          0              0              0
  56  CounterTop      -3.381         0.951          1.356          0              0              0
  57  Drawer          -3.121         0.781          3.295          0              0              0
  58  Cabinet         -2.205         0.388          3.459          0              0              0
  59  Cabinet         -2.963         0.388          3.459          0              0              0
  60  Cabinet         -2.992         0.388          2.683          0              0              0
  61  Cabinet         -3.352         2.205          1.715          0              0              0
  62  Cabinet         -3.352         2.205          2.653          0              0              0
  63  Cabinet         -2.189         0.388          3.466          0              0              0
  64  Cabinet         -3.365         1.931          3.963          0              0              0
  65  Cabinet         -3.365         1.931          1.056          0              0              0
  66  Cabinet         -2.992         0.388          1.037          0              0              0
  67  StoveBurner     -3.143         0.958          1.971          0              0              0
  68  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  69  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  70  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  71  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  72  Toaster         -2.654         0.902          4.064          0              180            0
  73  Fridge          -0.439         0.014          3.996          0              0              0
  74  LightSwitch     0.25           1.383          2.085          0              270            0
  75  Window          -1.430         1.338          -0.347         90             0              0
  76  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  77  SinkBasin       -1.802         0.778          3.700          0              0              0
  78  Microwave       -3.484         1.430          2.182          0              90             0
  79  GarbageCan      -1.184         -0.020         3.794          0              270            0
  80  Blinds          -1.404         2.092          -0.296         0              0              0
  81  Stool           -1.373         0.014          1.048          1.214          20.754         0
  82  Faucet          -1.788         0.903          3.931          270            90             0
  83  DiningTable     -1.399         0.010          0.238          0              0              0
  84  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn left and walk forward to face the end of the table. | STEP 2: Pick up the knife on the table. | STEP 3: Walk around the table to face the opposite end. | STEP 4: Cut the apple on the table into 3 pieces. | STEP 5: Turn around and step right and look up to face the microwave above the stove. | STEP 6: Place the knife in the microwave. | STEP 7: Turn left and walk forward  and turn to the left to face the end of the table. | STEP 8: Pick up a piece of the apple on the table. | STEP 9: Turn around and step right and look up to face the microwave above the stove. | STEP 10: Heat the piece of apple in the microwave and then remove it. | STEP 11: Turn around and walk across the room, then turn right and cross the room and turn right to face the end of the table. | STEP 12: Place the piece of apple on the edge of the table. | END