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

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.914          2.25           0              270            0
   1  Pan             -3.148         0.966          2.374          0              0              0              47
   2  Potato          -0.994         0.923          0.152          0              90             0              80
   3  DishSponge      -3.176         0.915          1.273          0              0              0              53
   4  DishSponge      -1.666         0.789          3.737          0              0              0              74
   5  WineBottle      -1.192         0.087          3.820          0              270            0              76
   6  WineBottle      -1.127         0.892          0.358          0              90             0              80
   7  Spatula         -1.127         0.906          0.255          0              180            0              80
   8  Fork            -3.272         0.916          1.357          0              0              0              53
   9  Egg             -1.729         0.824          3.811          0              0              0              74
  10  Egg             -1.655         0.926          0.461          0              90             0              80
  11  Cup             -1.391         0.891          -0.053         0              90             0              80
  12  Tomato          -0.994         0.965          -0.053         0              90             0              80
  13  SoapBottle      -1.504         0.915          4.188          0              0              0              44
  14  Bowl            -3.654         0.914          1.440          0              0              0              53
  15  Bowl            -0.323         0.985          3.988          0              180            0              70
  16  SaltShaker      -2.359         0.077          3.547          0              0              0              55
  17  PepperShaker    -3.272         0.912          1.524          0              0              0              53
  18  PepperShaker    -3.176         0.912          1.440          0              0              0              53
  19  Apple           -1.919         0.975          4.146          0              0              0              44
  20  Apple           -1.793         0.849          3.625          0              0              0              74
  21  Egg             -3.176         0.950          3.663          0              0              0              44
  22  Knife           -1.259         0.915          0.255          0              90             0              80
  23  Fork            -3.559         0.916          1.440          0              90             0              53
  24  Bread           -3.081         0.996          3.172          0              0              0              44
  25  Potato          -0.439         0.755          3.817          0              180            0              70
  26  Plate           -3.006         0.904          3.677          0              0              0              44
  27  Pot             -3.424         0.966          1.971          0              0              0              52
  28  Kettle          -3.424         0.966          2.374          0              0              0              50
  29  WineBottle      -1.565         0.081          3.625          0              0              0              49
  30  Bowl            -0.673         1.272          4.062          0              180            0              70
  31  Tomato          -1.666         0.858          3.625          0              0              0              74
  32  Cup             -3.559         0.915          1.106          0              0              0              53
  33  Spatula         -2.905         0.930          3.890          0              90             0              44
  34  SoapBottle      -3.191         0.083          1.122          0              0              0              63
  35  Lettuce         -1.759         0.974          0.085          0              0              0              80
  36  Pan             -2.614         0.902          3.620          0              0              0              44
  37  Apple           -3.463         0.975          1.357          0              0              0              53
  38  SaltShaker      -1.259         0.887          0.358          0              90             0              80
  39  PepperShaker    -1.127         0.887          0.461          0              90             0              80
  40  ButterKnife     -1.787         0.891          0.255          0              90             0              80
  41  DishSponge      -3.475         1.458          1.303          0              0              0              62
  42  Spoon           -1.391         0.892          0.461          0              90             0              80
  43  Mug             -3.424         0.945          3.275          0              90             0              44
  44  CounterTop      -3.381         0.950          3.335          0              0              0
  45  Drawer          -3.121         0.775          1.357          0              0              0
  46  Drawer          -3.121         0.777          2.916          0              0              0
  47  StoveBurner     -3.148         0.958          2.374          0              0              0
  48  Sink            -1.797         0.917          3.660          0              0              0
  49  Cabinet         -1.421         0.388          3.459          0              0              0
  50  StoveBurner     -3.424         0.958          2.374          0              0              0
  51  Cabinet         -3.365         1.931          2.676          0              0              0
  52  StoveBurner     -3.424         0.958          1.971          0              0              0
  53  CounterTop      -3.381         0.951          1.356          0              0              0
  54  Drawer          -3.121         0.781          3.295          0              0              0
  55  Cabinet         -2.205         0.388          3.459          0              0              0
  56  Cabinet         -2.963         0.388          3.459          0              0              0
  57  Cabinet         -2.992         0.388          2.683          0              0              0
  58  Cabinet         -3.352         2.205          1.715          0              0              0
  59  Cabinet         -3.352         2.205          2.653          0              0              0
  60  Cabinet         -2.189         0.388          3.466          0              0              0
  61  Cabinet         -3.365         1.931          3.963          0              0              0
  62  Cabinet         -3.365         1.931          1.056          0              0              0
  63  Cabinet         -2.992         0.388          1.037          0              0              0
  64  StoveBurner     -3.143         0.958          1.971          0              0              0
  65  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  66  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  68  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  69  Toaster         -2.654         0.902          4.064          0              180            0
  70  Fridge          -0.439         0.014          3.996          0              0              0
  71  LightSwitch     0.25           1.383          2.085          0              270            0
  72  Window          -1.430         1.338          -0.347         90             0              0
  73  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  74  SinkBasin       -1.802         0.778          3.700          0              0              0
  75  Microwave       -3.484         1.430          2.182          0              90             0
  76  GarbageCan      -1.184         -0.020         3.794          0              270            0
  77  Blinds          -1.404         2.092          -0.296         0              0              0
  78  Stool           -1.373         0.014          1.048          1.214          20.754         0
  79  Faucet          -1.788         0.903          3.931          270            90             0
  80  DiningTable     -1.399         0.010          0.238          0              0              0
  81  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Walk forward across the room, then turn left and cross the room, then turn left and face the end of the table. | STEP 2: Pick up the knife at the far end of the table. | STEP 3: Turn around and face the apple on the counter. | STEP 4: Cut the apple on the counter into three pieces. | STEP 5: Place the knife on top of the sponge. | STEP 6: Pick up a piece of the apple. | STEP 7: Turn to the right and look up to face the microwave. | STEP 8: Heat the piece of apple in the microwave and then remove it. | STEP 9: Turn around and cross the room, then turn right and cross the room and turn to the right to face the end of the table. | STEP 10: Place the piece of apple on the end of the table. | END