Task: Cut a slice of fruit and heat it.

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          0.869          -1.5           0              0              0
   1  Potato          -1.297         0.085          -3.537         0              270            0              65
   2  Potato          -0.453         0.933          0.758          0              270            0              76
   3  DishSponge      -1.535         0.699          -3.698         0              0              0              77
   4  DishSponge      0.950          0.883          -0.108         0              0              0              50
   5  ButterKnife     -0.252         0.900          0.843          0              270            0              76
   6  ButterKnife     0.655          0.883          -0.245         0              0              0              50
   7  Spatula         0.623          0.774          -0.061         0              270            0              49
   8  Spoon           0.769          0.760          -0.188         0              270            0              49
   9  Spoon           0.769          0.761          0.002          0              90             0              49
  10  Fork            0.720          0.761          0.002          0              270            0              49
  11  Fork            0.149          0.901          1.187          0              270            0              76
  12  Cup             0.787          0.014          0.076          0              0              0              60
  13  Cup             0.803          0.882          0.098          0              0              0              50
  14  Plate           -1.719         0.705          -1.091         0              0              0              86
  15  Knife           0.574          0.783          0.002          0              270            0              49
  16  Tomato          0.799          0.820          -0.790         0              270            0              73
  17  SoapBottle      0.732          0.014          -0.250         0              0              0              60
  18  SoapBottle      0.721          0.663          0.326          0              0              0              55
  19  Bowl            0.858          1.462          0.411          0              0              0              62
  20  PepperShaker    0.842          0.012          -0.833         0              0              0              53
  21  SaltShaker      0.858          1.460          -0.022         0              0              0              61
  22  SaltShaker      0.729          0.879          -0.314         0              0              0              50
  23  Bread           -1.056         0.944          1.015          0              270            0              76
  24  Lettuce         -0.051         0.987          1.015          0              270            0              76
  25  Mug             0.877          0.878          -0.314         0              0              0              50
  26  Mug             0.698          0.941          -1.360         0              270            0              63
  27  Apple           0.669          1.428          -2.035         0              270            0              70
  28  Pot             -1.555         0.930          1.049          0              0              0              59
  29  Plate           -2.054         0.705          -1.091         0              0              0              86
  30  Fork            0.961          0.665          0.508          0              90             0              55
  31  SoapBottle      -1.260         0.051          -3.647         0              270            0              65
  32  Apple           0.708          1.428          -1.802         0              270            0              70
  33  Pan             -2.097         0.930          1.049          0              0              0              57
  34  Egg             0.863          0.701          -2.190         0              270            0              70
  35  Spatula         0.866          0.774          0.002          0              270            0              49
  36  Potato          0.841          0.805          -0.680         0              270            0              73
  37  Cup             0.672          0.771          -0.735         0              270            0              73
  38  SaltShaker      0.901          0.661          0.569          0              0              0              55
  39  PepperShaker    -0.252         0.896          1.101          0              270            0              76
  40  ButterKnife     -0.855         0.900          0.843          0              270            0              76
  41  DishSponge      0.787          0.015          -0.053         0              0              0              60
  42  Bread           0.149          0.944          1.015          0              270            0              76
  43  Lettuce         0.781          0.752          0.508          0              0              0              55
  44  Tomato          0.841          0.713          0.326          0              0              0              55
  45  Spoon           -0.051         0.901          1.101          0              90             0              76
  46  Knife           -1.803         0.724          -1.524         0              0              0              86
  47  Mug             0.566          0.010          -0.702         0              270            0              53
  48  Bowl            0.949          1.462          -0.207         0              0              0              61
  49  Drawer          0.706          0.766          -0.125         0              0              0
  50  CounterTop      0.792          0.919          -0.108         0              0              0
  51  Mirror          1.093          1.602          -0.643         0              0              0
  52  StoveBurner     -2.096         0.890          0.785          0              0              0
  53  Cabinet         0.507          0.345          -0.426         0              0              0
  54  StoveBurner     -1.552         0.890          0.785          0              0              0
  55  SideTable       0.770          -0.030         0.443          0              0              0
  56  Sink            0.753          0.882          -0.680         0              0              0
  57  StoveBurner     -2.096         0.890          1.049          0              0              0
  58  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  59  StoveBurner     -1.554         0.890          1.049          0              0              0
  60  Cabinet         0.507          0.345          0.156          0              0              0
  61  Cabinet         0.717          1.822          -0.398         0              0              0
  62  Cabinet         0.717          1.822          0.669          0              0              0
  63  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  64  Toaster         -0.522         0.886          1.081          0              180            0
  65  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  66  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  67  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  68  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  69  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  70  Fridge          0.680          -0.031         -1.957         0              0              0
  71  Window          -2.424         1.639          -2.453         90             270            0
  72  Microwave       -1.994         0.690          -3.651         0              0              0
  73  SinkBasin       0.757          0.762          -0.688         0              270            0
  74  LightSwitch     1.102          1.368          -3.737         0              270            0
  75  Shelf           -0.350         0.124          0.857          0              0              0
  76  DiningTable     -0.350         -0.025         0.857          0              0              0
  77  DiningTable     -1.909         -0.032         -3.507         0              0              0
  78  Blinds          -2.343         2.151          -2.437         0              270            0
  79  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  80  AluminumFoil    0.751          0.225          0.287          0              0              0
  81  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  82  Shelf           0.771          0.226          0.445          0              0              0
  83  Shelf           0.771          0.456          0.446          0              0              0
  84  Faucet          1.025          0.873          -0.678         270            180            0
  85  Shelf           -0.350         0.497          0.857          0              0              0
  86  DiningTable     -1.929         -0.035         -1.398         0              90             0
  87  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Head towards the left side of the kitchen sink counter on the right.  | STEP 2: Pick up the knife sitting on the counter, to the left of the sink.  | STEP 3: Turn left and head towards the small brown table on the right, to the left of the sink counter.  | STEP 4: Cut the red fruit on top of the small brown table.  | STEP 5: Turn around and head towards the white table on the right, which has a loaf of bread on it. | STEP 6: Place the knife on top of the loaf of bread.  | STEP 7: Turn to the right and head back to the small brown table.  | STEP 8: Pick up a slice of the red fruit.  | STEP 9: Turn around and head towards the microwave oven against the wall.  | STEP 10: Place the fruit in the microwave, heat it, and take it out.  | STEP 11: Turn around and head back to the small brown table.  | STEP 12: Place the slice of fruit on the small brown table.  | END