Task: To heat a piece of apple as well as place it on the kitchen table.

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          0.900          1.75           0              0              0
   1  Potato          2.009          1.550          6.001          0              270            0              82
   2  ButterKnife     0.150          0.760          6.541          0              270            0              96
   3  ButterKnife     -0.687         0.992          0.212          0              0              0              60
   4  Kettle          1.314          0.993          1.577          0              0              0              60
   5  Pot             1.562          0.988          3.848          0              0              0              54
   6  Spoon           -0.159         0.761          6.941          0              0              0              96
   7  Spatula         0.923          1.007          0.670          0              0              0              60
   8  Egg             0.064          1.147          0.245          0              0              0              76
   9  Cup             1.314          0.988          3.511          0              0              0              60
  10  Cup             1.140          1.575          0.295          0              0              0              67
  11  Plate           1.500          1.578          1.288          0              0              0              70
  12  Plate           0.046          1.580          0.251          0              0              0              73
  13  Knife           0.123          0.789          6.107          0              135            0              96
  14  Knife           0.305          0.789          6.541          0              270            0              96
  15  Tomato          0.999          1.042          0.120          0              0              0              60
  16  Tomato          2.009          1.565          5.251          0              270            0              82
  17  SoapBottle      1.140          1.579          0.163          0              0              0              67
  18  SoapBottle      -0.159         0.760          6.787          0              0              0              96
  19  SaltShaker      0.897          1.574          0.251          0              0              0              74
  20  Bread           -0.459         1.062          0.486          0              0              0              60
  21  Bread           -0.378         0.829          6.698          0              135            0              96
  22  Lettuce         0.059          0.848          6.698          0              225            0              96
  23  Mug             2.094          1.510          5.501          0              270            0              82
  24  Apple           -0.096         0.834          6.632          0              0              0              96
  25  Bowl            0.696          0.991          0.486          0              0              0              60
  26  Bread           0.102          0.829          6.305          0              135            0              96
  27  Egg             0.999          1.042          0.303          0              0              0              60
  28  Knife           0.192          0.801          0.451          0              90             0              57
  29  Fork            0.056          0.772          0.563          0              0              0              57
  30  Apple           1.907          0.155          6.409          0              0              0              84
  31  Kettle          -0.621         0.761          6.541          0              270            0              96
  32  Plate           0.193          0.144          0.506          0              0              0              69
  33  SaltShaker      -0.690         0.139          0.277          0              0              0              68
  34  Lettuce         -0.384         1.081          0.303          0              90             0              60
  35  SoapBottle      1.450          2.207          4.262          0              90             0              48
  36  Spatula         -0.345         0.786          0.563          0              0              0              56
  37  PaperTowelRoll  0.771          1.096          0.120          0              0              0              60
  38  Pot             1.559          0.988          4.294          0              0              0              58
  39  Potato          -0.073         0.794          6.128          0              135            0              96
  40  ButterKnife     0.696          0.992          0.670          0              0              0              60
  41  PepperShaker    0.305          0.755          6.291          0              270            0              96
  42  Pan             1.313          0.985          4.284          0              0              0              55
  43  Tomato          -0.179         0.809          6.282          0              225            0              96
  44  DishSponge      1.582          0.992          2.950          0              0              0              60
  45  Cup             1.225          0.988          3.231          0              0              0              60
  46  Spoon           0.260          0.773          0.563          0              0              0              57
  47  Mug             1.384          1.043          0.847          0              270            0              60
  48  Cabinet         1.307          2.455          4.360          0              0              0
  49  Cabinet         1.054          0.422          1.710          0              0              0
  50  Drawer          1.280          0.808          4.718          0              0              0
  51  Cabinet         1.307          2.455          3.607          0              0              0
  52  Drawer          0.736          0.802          0.521          0              0              0
  53  Drawer          1.276          0.802          3.291          0              0              0
  54  StoveBurner     1.562          0.982          3.848          0              0              0
  55  StoveBurner     1.317          0.982          4.294          0              0              0
  56  Drawer          -0.482         0.802          0.521          0              0              0
  57  Drawer          0.124          0.802          0.521          0              0              0
  58  StoveBurner     1.559          0.982          4.294          0              0              0
  59  StoveBurner     1.320          0.982          3.848          0              0              0
  60  CounterTop      1.391          1.028          0.897          0              0              0
  61  CounterTop      1.391          1.028          4.716          0              0              0
  62  Cabinet         1.054          0.422          4.548          0              0              0
  63  Cabinet         1.317          2.134          0.517          0              0              0
  64  Cabinet         1.317          2.134          4.889          0              0              0
  65  Cabinet         1.317          2.134          3.095          0              0              0
  66  Cabinet         0.443          0.422          0.743          0              0              0
  67  Cabinet         1.270          2.134          0.434          0              0              0
  68  Cabinet         -0.775         0.422          0.743          0              0              0
  69  Cabinet         -0.168         0.422          0.743          0              0              0
  70  Cabinet         1.317          2.134          1.534          0              0              0
  71  Cabinet         1.054          0.422          2.990          0              0              0
  72  Cabinet         1.054          0.422          2.944          0              0              0
  73  Cabinet         -0.263         2.134          0.434          0              0              0
  74  Cabinet         0.252          2.134          0.434          0              0              0
  75  Sink            1.391          1.006          2.326          0              0              0
  76  Microwave       0.108          0.981          0.262          0              0              0
  77  HousePlant      -0.165         0.826          6.444          0              0              0
  78  CoffeeMachine   1.551          0.982          0.953          0              270            0
  79  Toaster         1.473          0.981          4.715          0              270            0
  80  Window          -2.065         1.916          3.626          90             90             0
  81  Window          1.763          2.007          2.299          90             270            0
  82  Fridge          2.035          0.0            5.625          0              0              0
  83  SinkBasin       1.387          0.880          2.338          0              90             0
  84  GarbageCan      2.001          -0.044         6.503          0              0              0
  85  StoveKnob       1.140          0.934          3.987          45             270            0
  86  StoveKnob       1.140          0.934          4.309          45             270            0
  87  StoveKnob       1.140          0.934          4.140          45             270            0
  88  StoveKnob       1.140          0.934          3.824          45             270            0
  89  Vase            -0.226         0.834          6.993          0              0              0
  90  Vase            2.098          0.043          7.070          0              257.232        0
  91  Vase            -0.594         0.835          6.130          0              225            0
  92  LightSwitch     -2.0           1.549          6.045          0              90             0
  93  Safe            2.046          1.072          7.054          0              257.232        0
  94  Faucet          1.534          1.025          2.371          0              294.391        0
  95  Blinds          1.738          2.563          2.312          0              90             0
  96  DiningTable     -0.156         0.000          6.474          0              0              0
  97  Chair           0.291          0.002          6.142          0              310.162        0
  98  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Walk across the room to face the right side of the kitchen table. | STEP 2: Pick up the knife on the kitchen table. | STEP 3: Step to the right to face the apple on the kitchen table. | STEP 4: Cut the apple on the kitchen table into three pieces. | STEP 5: Look down to face the close edge of the kitchen table. | STEP 6: Place the knife on the edge of the kitchen table. | STEP 7: Look up to face the piece of apple on the kitchen table. | STEP 8: Pick up the piece of apple on the kitchen table. | STEP 9: Turn left and walk across the room to face the microwave. | STEP 10: Heat the piece of apple in the microwave and remove it. | STEP 11: Turn around and Walk across the room to face the right side of the kitchen table. | STEP 12: Place the piece of apple on the kitchen table. | END