Task: To heat a piece of apple and place it on the counter by the microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          2.0            0              270            0
   1  Potato          -1.465         0.962          0.636          0              0              0              66
   2  Potato          -3.229         0.759          2.920          0              180            0              61
   3  DishSponge      -0.415         1.046          1.920          0              0              0              44
   4  Spoon           -1.199         0.932          0.428          0              180            0              66
   5  Spatula         -0.785         1.062          3.042          0              180            0              44
   6  Cup             -0.538         1.045          2.369          0              0              0              44
   7  Cup             -0.662         1.045          3.266          0              0              0              44
   8  Plate           -0.908         1.046          3.266          0              0              0              44
   9  Plate           -3.572         1.561          2.849          0              90             0              61
  10  Knife           -0.662         1.079          2.817          0              0              0              44
  11  Bowl            -0.538         1.044          2.817          0              0              0              44
  12  SaltShaker      -0.292         1.044          1.920          0              0              0              44
  13  SaltShaker      -1.903         0.899          0.511          0              0              0              52
  14  PepperShaker    -0.908         1.044          2.593          0              0              0              44
  15  Lettuce         -0.785         1.125          2.817          0              0              0              44
  16  Mug             -0.908         1.042          1.920          0              0              0              44
  17  Fork            -0.662         1.048          2.144          0              0              0              44
  18  SoapBottle      -0.415         1.048          2.369          0              0              0              44
  19  Pot             -3.000         1.133          0.480          0              270            0              49
  20  Ladle           -0.662         1.087          2.593          0              180            0              44
  21  Potato          -1.553         0.962          0.567          0              0              0              66
  22  Plate           -0.908         1.046          2.144          0              0              0              44
  23  Bread           -0.538         1.134          2.144          0              0              0              44
  24  Lettuce         -3.506         1.637          3.132          0              90             0              61
  25  Spatula         -0.538         1.063          3.042          0              90             0              44
  26  Pan             -0.266         1.038          2.561          0              0              0              44
  27  Egg             -3.229         0.758          3.203          0              90             0              61
  28  Cup             -1.642         0.929          0.221          0              0              0              66
  29  SaltShaker      -2.184         0.484          0.545          0              0              0              45
  30  Knife           -1.376         0.963          0.359          0              180            0              66
  31  Bowl            -1.195         0.047          0.437          0              0              0              48
  32  PepperShaker    -0.785         1.044          1.920          0              0              0              44
  33  ButterKnife     -1.553         0.931          0.290          0              180            0              66
  34  Apple           -0.168         1.114          1.920          0              0              0              44
  35  Tomato          -3.373         1.327          2.991          0              90             0              61
  36  DishSponge      -1.199         0.931          0.567          0              0              0              66
  37  Spoon           -0.785         1.048          2.593          0              0              0              44
  38  Mug             -0.377         1.094          3.194          0              270            0              60
  39  StoveKnob       -3.322         1.053          0.709          45             0              0
  40  StoveBurner     -3.474         1.097          0.227          0              180            0
  41  Sink            -1.394         0.982          0.439          0              0              0
  42  StoveBurner     -3.474         1.097          0.479          0              180            0
  43  StoveKnob       -3.164         1.053          0.709          45             0              0
  44  DiningTable     -0.620         0.017          2.486          0              0              0
  45  Drawer          -2.043         0.608          0.594          0              0              0
  46  Drawer          -2.043         0.216          0.594          0              0              0
  47  Drawer          -2.498         0.216          0.594          0              0              0
  48  Cabinet         -1.001         0.393          0.734          0              0              0
  49  StoveBurner     -3.000         1.097          0.480          0              0              0
  50  StoveKnob       -3.492         1.053          0.709          45             0              0
  51  CounterTop      -3.856         1.160          0.379          0              0              0
  52  Drawer          -2.043         0.937          0.599          0              0              0
  53  Drawer          -2.509         0.937          0.599          0              0              0
  54  CounterTop      -2.280         1.160          0.379          0              0              0
  55  StoveKnob       -2.985         1.053          0.709          45             0              0
  56  CounterTop      -0.514         1.160          0.492          0              0              0
  57  Drawer          -2.498         0.608          0.594          0              0              0
  58  StoveBurner     -3.000         1.097          0.227          0              0              0
  59  Cabinet         -1.733         0.393          0.734          0              0              0
  60  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  61  Fridge          -3.519         0.0            2.717          0              90             0
  62  Window          -1.394         1.924          0.014          90             0              0
  63  Window          -3.266         1.924          0.014          90             0              0
  64  Toaster         -0.225         1.038          2.865          0              270            0
  65  GarbageCan      -3.696         0.002          2.008          0              0              0
  66  SinkBasin       -1.389         0.921          0.428          0              0              0
  67  Microwave       -0.366         1.113          0.430          0              0              0
  68  HousePlant      -2.155         1.101          0.169          0              332.897        0
  69  LightSwitch     -2.584         1.299          3.5            0              180            0
  70  Faucet          -1.393         1.373          0.168          0              270            0
  71  NorthWall
  72  SouthWall
  73  SouthWall

Plan:
STEP 1: Turn to the left and walk forward to face the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn around and step forward to face the kitchen table. | STEP 4: Cut the apple on the kitchen table into slices. | STEP 5: Turn around and step forward to face the counter. | STEP 6: Place the knife on the counter to the left of the sink. | STEP 7: Turn around and step forward to face the kitchen table. | STEP 8: Pick up the piece of apple on the kitchen table. | STEP 9: Turn around to face the microwave. | STEP 10: Heat the apple in the microwave and then remove it. | STEP 11: Step to the right to face the counter. | STEP 12: Place the piece of apple on the counter. | END