Task: To heat an apple piece and place it on the counter next to the two stools.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          0.75           0              0              0
   1  Statue          2.900          0.886          0.141          0              180            0              90
   2  Ladle           -1.322         0.948          -1.469         0              0              0              86
   3  Ladle           -1.330         0.950          -0.231         0              90             0              79
   4  DishSponge      -0.203         0.762          -1.952         0              0              0              96
   5  DishSponge      -0.623         0.691          -1.935         0              0              0              56
   6  ButterKnife     -0.031         0.763          -2.008         0              0              0              96
   7  ButterKnife     -0.420         0.913          0.030          0              0              0              79
   8  Pot             -1.289         0.957          -0.756         0              180            0              61
   9  Spatula         -0.376         0.778          -1.952         0              270            0              96
  10  Spatula         -0.822         1.146          0.618          0              180            0              82
  11  Fork            0.079          0.696          0.139          0              90             0              85
  12  Fork            -0.375         1.132          0.706          0              0              0              82
  13  Egg             -0.822         1.165          0.706          0              0              0              82
  14  Egg             -0.910         0.944          -1.638         0              0              0              86
  15  SoapBottle      2.694          0.552          0.142          0              180            0              92
  16  Tomato          0.055          0.812          -2.118         0              0              0              96
  17  Tomato          1.963          0.112          0.109          0              0              0              89
  18  Bowl            1.914          1.649          -1.606         0              0              0              64
  19  SaltShaker      -0.993         0.907          -1.806         0              0              0              86
  20  SaltShaker      -0.645         0.690          0.234          0              180            0              80
  21  PepperShaker    -1.259         0.907          -1.845         0              0              0              86
  22  PepperShaker    -0.205         0.909          0.083          0              0              0              79
  23  Lettuce         1.419          0.987          -1.929         0              0              0              86
  24  Mug             -0.152         1.126          0.662          0              0              0              82
  25  Apple           1.781          0.865          -0.458         0              270            0              93
  26  Apple           1.891          0.865          -0.458         0              270            0              93
  27  Apple           2.055          1.147          -0.551         0              270            0              93
  28  Pan             1.743          0.9            -1.969         0              308.846        0              86
  29  Knife           0.071          1.155          0.706          0              0              0              82
  30  Bowl            0.388          1.657          -2.124         0              0              0              66
  31  Fork            -1.278         0.914          0.241          0              0              0              79
  32  Cup             0.101          0.750          -1.938         0              0              0              96
  33  Ladle           0.071          1.168          0.485          0              0              0              82
  34  Apple           2.000          1.147          -0.737         0              270            0              93
  35  Kettle          -0.634         0.914          0.241          0              0              0              79
  36  Vase            -1.351         1.662          -0.626         0              0              0              69
  37  Potato          2.000          0.847          -0.737         0              90             0              93
  38  Pot             -1.056         0.956          -1.127         0              0              0              83
  39  Bread           -0.777         0.993          -1.929         0              0              0              86
  40  Plate           0.888          1.656          -2.163         0              0              0              65
  41  Spatula         -0.205         0.928          0.188          0              0              0              79
  42  PaperTowelRoll  -1.045         1.235          0.618          0              90             0              82
  43  Vase            -1.349         1.668          0.094          0              0              0              70
  44  Egg             1.781          0.850          -0.551         0              270            0              93
  45  SoapBottle      -1.330         0.913          -0.414         0              0              0              79
  46  SaltShaker      -0.997         0.909          -0.048         0              0              0              79
  47  Lettuce         1.891          0.893          -0.644         0              0              0              93
  48  PepperShaker    -0.577         0.688          0.058          0              180            0              80
  49  ButterKnife     -0.290         0.763          -2.063         0              180            0              96
  50  DishSponge      2.694          0.551          0.038          0              180            0              92
  51  Vase            -1.072         0.133          -0.250         0              0              0              73
  52  Spoon           -1.247         0.914          -0.231         0              0              0              79
  53  Tomato          -0.598         1.181          0.618          0              0              0              82
  54  Mug             1.455          0.111          -1.397         0              90             0              60
  55  Statue          -0.375         1.138          0.485          0              0              0              82
  56  Drawer          -0.819         0.75           -1.690         0              0              0
  57  Cabinet         -1.149         2.264          -0.838         0              90             0
  58  StoveBurner     -1.056         0.949          -0.671         0              180            0
  59  Cabinet         1.738          2.019          -2.000         0              0              0
  60  Cabinet         1.389          0.469          -1.059         0              0              0
  61  StoveBurner     -1.289         0.949          -0.755         0              180            0
  62  Faucet          -0.157         1.052          -2.196         0              270            0
  63  Cabinet         1.75           2.019          -1.029         0              0              0
  64  Cabinet         1.75           2.019          -1.399         0              0              0
  65  Cabinet         1.179          2.019          -2.0           0              0              0
  66  Cabinet         0.199          2.019          -2.0           0              0              0
  67  Cabinet         -1.100         2.019          -2.0           0              0              0
  68  Cabinet         -1.149         2.019          -1.979         0              0              0
  69  Cabinet         -1.149         2.019          -0.770         0              0              0
  70  Cabinet         -1.149         2.019          0.380          0              0              0
  71  Cabinet         -0.819         0.469          -1.689         0              0              0
  72  Cabinet         -0.839         0.469          -1.664         0              0              0
  73  Cabinet         -0.839         0.469          -0.049         0              0              0
  74  Cabinet         -0.414         0.370          -0.009         0              0              0
  75  Sink            -0.118         0.875          -2.009         0              0              0
  76  StoveBurner     -1.289         0.949          -1.019         0              0              0
  77  Cabinet         0.119          2.264          -2.0           0              0              0
  78  Cabinet         -0.459         2.264          -2.0           0              0              0
  79  CounterTop      -0.665         0.949          0.188          0              0              0
  80  Drawer          -0.449         0.75           -0.010         0              180            0
  81  Cabinet         -0.450         0.469          -0.009         0              0              0
  82  CounterTop      -0.630         1.167          0.573          0              0              0
  83  StoveBurner     -1.056         0.949          -1.126         0              0              0
  84  Cabinet         1.376          0.460          -1.685         0              0              0
  85  Drawer          -0.070         0.75           -0.009         0              180            0
  86  CounterTop      1.159          0.946          -2.013         0              0              0
  87  Cabinet         -1.150         2.264          -1.418         0              90             0
  88  HousePlant      -1.246         1.108          0.606          0              0              0
  89  GarbageCan      1.923          -0.010         0.137          0              0              0
  90  Shelf           2.759          0.880          0.144          0              0              0
  91  Microwave       1.827          0.900          -1.354         0              270            0
  92  Shelf           2.759          0.552          0.145          0              0              0
  93  Fridge          1.975          0.0            -0.537         0              0              0
  94  LightSwitch     0.404          1.297          2.0            0              180            0
  95  Shelf           2.760          0.172          0.145          0              0              0
  96  SinkBasin       -0.129         0.752          -2.007         0              0              0
  97  StoveKnob       -0.873         0.903          -0.827         45             90             0
  98  StoveKnob       -0.873         0.903          -0.676         45             90             0
  99  StoveKnob       -0.873         0.903          -0.966         45             90             0
 100  StoveKnob       -0.873         0.903          -1.123         45             90             0
 101  Toaster         0.840          0.900          -2.057         0              0              0
 102  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 103  ShelvingUnit    2.760          0.006          0.144          0              0              0
 104  Stool           -0.826         0.010          0.908          0              347.513        0
 105  Stool           -0.132         0.010          0.883          0              71.555         0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn left and walk across the room to face the end of the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk across the room to face the fridge. | STEP 4: Cut the apple in the fridge into 3 pieces. | STEP 5: Place the knife on the top shelf in the fridge. | STEP 6: Pick up a piece of apple and shut the fridge. | STEP 7: Step to the right and face the microwave. | STEP 8: Heat the piece of apple in the microwave and then remove it. | STEP 9: Turn left and cross the room, then turn left and cross the room, and then turn left to face the counter. | STEP 10: Place the apple piece on the counter. | END