Task: heat the tray on the bed stool

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          -1.25          0              270            0
   1  ButterKnife     -0.397         0.942          -2.847         0              0              0              39
   2  Pot             -0.437         0.961          -1.845         0              180            0              40
   3  Fork            -0.157         0.941          -1.538         0              180            0              57
   4  Fork            -2.139         0.942          -3.595         0              0              0              39
   5  Spoon           -0.372         0.752          -2.846         0              90             0              44
   6  Egg             -3.496         0.801          -3.430         0              109.125        0              75
   7  Egg             -0.321         1.529          -0.529         0              270            0              69
   8  Plate           -0.175         1.956          -0.553         0              0              0              46
   9  Plate           -2.359         0.908          -0.290         0              270            0              76
  10  Knife           -3.527         0.785          -2.861         0              289.125        0              75
  11  SoapBottle      -3.364         0.892          -0.548         0              270            0              76
  12  Lettuce         -3.364         0.985          -0.290         0              270            0              76
  13  Lettuce         -4.182         0.781          -0.369         0              0              0              74
  14  SaltShaker      -0.554         0.743          -1.338         0              0              0              43
  15  PepperShaker    -2.560         0.890          -0.462         0              270            0              76
  16  Mug             -0.252         1.281          -0.529         0              270            0              69
  17  Apple           -3.519         0.821          -3.027         0              199.125        0              75
  18  SoapBottle      -4.121         0.758          -3.345         0              109.125        0              75
  19  Pot             -3.203         0.761          -3.118         0              244.125        0              75
  20  Fork            -0.315         0.941          -1.450         0              180            0              57
  21  Cup             -0.527         0.814          -3.454         0              315            0              68
  22  Tomato          -0.321         1.539          -0.994         0              270            0              69
  23  Pan             -0.222         0.961          -2.243         0              0              0              58
  24  Plate           -3.942         0.704          -0.248         0              0              0              74
  25  Bread           -3.163         0.976          -0.204         0              270            0              76
  26  Spatula         -3.364         0.909          -0.376         0              0              0              76
  27  Knife           -0.577         0.777          -2.792         0              90             0              44
  28  SaltShaker      -3.565         0.890          -0.633         0              270            0              76
  29  PepperShaker    -0.440         0.748          -2.578         0              0              0              44
  30  ButterKnife     -2.761         0.894          -0.376         0              270            0              76
  31  Apple           -4.018         0.821          -3.050         0              109.125        0              75
  32  DishSponge      -3.329         0.759          -3.421         0              109.125        0              75
  33  Potato          -3.544         0.792          -3.673         0              199.125        0              75
  34  Egg             -0.376         1.327          -0.413         0              270            0              69
  35  Spoon           -0.397         0.943          -2.906         0              0              0              39
  36  Lettuce         -3.565         0.985          -0.462         0              270            0              76
  37  Mug             -2.514         0.972          -3.649         0              0              0              65
  38  Bowl            -0.202         1.937          -2.338         0              0              0              49
  39  CounterTop      -1.937         0.977          -3.673         0              0              0
  40  StoveBurner     -0.437         0.924          -1.845         0              180            0
  41  StoveBurner     -0.222         0.924          -1.845         0              180            0
  42  StoveBurner     -0.437         0.924          -2.243         0              0              0
  43  Drawer          -0.500         0.779          -1.450         0              0              0
  44  Drawer          -0.481         0.777          -2.739         0              0              0
  45  Drawer          -1.154         0.782          -3.499         0              0              0
  46  Cabinet         -0.337         2.110          -0.390         0              0              0
  47  Cabinet         -0.337         2.110          -1.272         0              0              0
  48  Cabinet         -0.337         2.110          -1.631         0              0              0
  49  Cabinet         -0.337         2.110          -2.497         0              0              0
  50  Cabinet         -0.337         1.891          -1.286         0              0              0
  51  Cabinet         -0.346         1.891          -3.293         0              0              0
  52  Cabinet         -0.629         0.388          -2.513         0              0              0
  53  Cabinet         -0.633         0.388          -3.008         0              0              0
  54  Cabinet         -1.010         0.388          -3.368         0              0              0
  55  Cabinet         -0.629         0.388          -1.614         0              0              0
  56  Cabinet         -0.327         1.886          -2.513         0              0              0
  57  CounterTop      -0.326         0.976          -1.450         0              0              0
  58  StoveBurner     -0.222         0.924          -2.243         0              0              0
  59  Sink            -0.600         0.929          -3.388         0              0              0
  60  StoveKnob       -0.617         0.899          -1.833         315            90             180
  61  StoveKnob       -0.617         0.899          -2.129         315            90             180
  62  StoveKnob       -0.617         0.899          -2.289         315            90             180
  63  StoveKnob       -0.617         0.899          -1.975         315            90             180
  64  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  65  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  66  Window          -1.389         1.610          -4.113         90             0              0
  67  LightSwitch     -4.372         1.493          -1.031         0              90             0
  68  SinkBasin       -0.614         0.802          -3.384         0              315            0
  69  Fridge          -0.314         0.0            -0.646         0              0              0
  70  Toaster         -1.970         0.930          -3.763         0              0              0
  71  Microwave       -0.216         1.470          -2.054         0              270            0
  72  Blinds          -1.373         2.205          -3.961         0              0              0
  73  Faucet          -0.393         0.930          -3.614         270            225            0
  74  SideTable       -4.030         0.002          -0.301         0              185.034        0
  75  DiningTable     -3.586         0.000          -3.258         0              0              0
  76  DiningTable     -3.224         -0.003         -0.453         0              0              0
  77  Shelf           -4.030         0.259          -0.301         0              185.034        0
  78  Shelf           -4.030         0.489          -0.301         0              185.034        0
  79  EastWall
  80  EastWall
  81  SouthWall

Plan:
STEP 1: turn right towards the bed stool | STEP 2: pick up the tray on the bed stool | STEP 3: turn around towards the table and then left towards the gas cooker | STEP 4: put the tray in the microwave above the gas cooker and heat it for 5 minutes then take it out | STEP 5: turn around and walk towards the door, then move right towards the bed stool | STEP 6: put the tray on the bed stool | END