Task: To heat a piece of apple and place it on the edge of the white 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          0.908          1.0            0              90             0
   1  SprayBottle     -1.197         0.748          2.644          0              90             0              49
   2  SprayBottle     -0.222         0.911          -0.359         0              0              0              74
   3  Potato          -1.378         1.466          1.197          0              90             0              88
   4  CellPhone       -1.197         0.747          2.273          0              0              0              49
   5  ButterKnife     1.200          0.886          2.261          0              0              0              100
   6  Glassbottle     -0.144         0.759          -0.651         0              0              0              95
   7  Glassbottle     -1.320         0.751          1.302          0              90             0              88
   8  WineBottle      -1.149         0.752          1.302          0              90             0              88
   9  Spatula         -1.290         0.763          2.273          0              90             0              49
  10  Spatula         -1.012         0.763          2.273          0              90             0              49
  11  Pot             0.502          0.939          -0.740         0              90             0              75
  12  Pot             1.207          0.911          -0.144         0              0              0              68
  13  Egg             -1.197         0.783          1.902          0              0              0              49
  14  Egg             1.284          0.920          2.261          0              0              0              100
  15  Tomato          1.450          0.936          2.153          0              0              0              100
  16  SoapBottle      -1.290         0.750          2.644          0              180            0              49
  17  SoapBottle      1.444          0.912          -0.428         0              0              0              68
  18  Lettuce         1.049          0.982          0.706          0              0              0              68
  19  PepperShaker    1.365          0.907          0.139          0              0              0              68
  20  Mug             -0.724         1.651          -0.817         0              0              0              53
  21  Apple           -1.475         0.809          2.273          0              0              0              49
  22  Apple           -1.162         0.401          0.988          0              90             0              88
  23  Bread           1.069          0.935          2.683          0              0              0              100
  24  Glassbottle     1.355          2.155          1.087          0              0              0              58
  25  Fork            -1.383         0.749          2.830          0              0              0              49
  26  Kettle          0.103          0.759          -0.612         0              270            0              95
  27  Tomato          1.357          0.135          1.409          0              0              0              89
  28  Plate           1.207          0.912          0.422          0              0              0              68
  29  CellPhone       -0.919         0.747          2.273          0              0              0              49
  30  Lettuce         -1.197         0.819          2.830          0              0              0              49
  31  Pot             0.802          0.939          -0.740         0              90             0              77
  32  SoapBottle      -1.357         1.657          -0.128         0              0              0              56
  33  WineBottle      -0.634         1.657          -0.724         0              0              0              53
  34  Spatula         1.284          0.901          2.369          0              0              0              100
  35  Bowl            1.174          0.115          -0.052         0              0              0              62
  36  Apple           -1.105         0.809          2.459          0              0              0              49
  37  Cup             0.659          2.154          -0.787         0              0              0              52
  38  Knife           1.365          0.933          -0.144         0              90             0              68
  39  Egg             1.470          0.120          1.409          0              0              0              89
  40  SaltShaker      -1.105         0.745          2.273          0              0              0              49
  41  PepperShaker    -1.263         2.149          1.262          0              0              0              67
  42  Potato          -1.329         1.060          -0.109         0              90             0              94
  43  ButterKnife     -1.105         0.749          1.902          0              0              0              49
  44  DishSponge      1.099          0.775          -0.014         0              0              0              69
  45  Pan             -1.332         0.9            -0.699         0              345.0          0              74
  46  Spoon           1.365          0.912          0.706          0              0              0              68
  47  SprayBottle     -1.290         0.749          2.830          0              90             0              49
  48  Mug             1.358          1.655          0.194          0              0              0              50
  49  DiningTable     -1.182         0.006          2.414          0              90             0
  50  Cabinet         1.184          2.059          0.375          0              0              0
  51  Cabinet         1.184          2.059          -0.635         0              0              0
  52  Cabinet         0.591          2.309          -0.645         0              0              0
  53  Cabinet         -0.574         2.059          -0.644         0              0              0
  54  Cabinet         -1.103         2.059          -0.644         0              0              0
  55  Cabinet         -1.185         2.059          -0.331         0              0              0
  56  Cabinet         -1.185         2.059          -0.281         0              0              0
  57  Cabinet         -1.185         2.059          0.375          0              0              0
  58  Cabinet         1.184          2.309          1.174          0              0              0
  59  Cabinet         1.184          2.309          0.424          0              0              0
  60  Cabinet         0.988          0.402          0.581          0              0              0
  61  Cabinet         0.988          0.402          0.531          0              0              0
  62  Cabinet         0.988          0.402          -0.178         0              0              0
  63  Cabinet         0.335          0.402          -0.348         0              0              0
  64  Cabinet         -0.374         0.402          -0.348         0              0              0
  65  Cabinet         0.988          0.402          1.231          0              0              0
  66  Cabinet         -1.185         2.309          1.374          0              0              0
  67  Cabinet         -1.185         2.309          0.424          0              0              0
  68  CounterTop      1.274          0.947          0.064          0              0              0
  69  Drawer          1.116          0.792          -0.015         0              0              0
  70  Drawer          -1.116         0.792          0.210          0              180            0
  71  Cabinet         -0.990         0.402          0.374          0              180            0
  72  Drawer          -1.116         0.792          -0.170         0              180            0
  73  Cabinet         -0.990         0.402          -0.335         0              180            0
  74  CounterTop      -1.001         0.947          -0.669         0              0              0
  75  StoveBurner     0.502          0.932          -0.740         0              90             0
  76  StoveBurner     0.801          0.932          -0.473         0              0              0
  77  StoveBurner     0.801          0.932          -0.740         0              90             0
  78  Drawer          1.116          0.792          1.081          0              0              0
  79  Sink            -0.013         0.912          -0.615         0              0              0
  80  Drawer          1.116          0.792          0.732          0              0              0
  81  StoveBurner     0.502          0.932          -0.469         0              0              0
  82  Drawer          1.116          0.792          0.367          0              0              0
  83  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  87  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  88  Fridge          -1.300         0.008          0.987          0              90             0
  89  GarbageCan      1.296          -0.024         1.465          0              0              0
  90  Window          -0.012         1.641          -0.972         90             0              0
  91  Window          1.598          1.646          2.489          90             270            0
  92  Toaster         1.356          0.900          1.044          0              270            0
  93  LightSwitch     0.118          1.353          3.799          0              180            0
  94  Microwave       -1.343         0.900          0.053          0              90             0
  95  SinkBasin       -0.029         0.748          -0.612         0              0              0
  96  Faucet          -0.026         0.927          -0.808         0              0              0
  97  Shelf           -1.182         0.127          2.414          0              90             0
  98  Stool           1.140          0.007          3.262          1.206          20.753         0
  99  Shelf           -1.182         0.435          2.414          0              90             0
 100  DiningTable     1.169          0.014          2.569          0              0              1.896
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Turn around and step forward to face the white table. | STEP 2: Pick up the knife on the white table. | STEP 3: Take a step to the left to face the fridge. | STEP 4: Cut the apple in the fridge into 3 pieces. | STEP 5: Place the knife on the shelf above the apple in the fridge. | STEP 6: Pick up a piece of apple in the fridge. | STEP 7: Take a step to the left to face the microwave on the counter. | STEP 8: Heat the piece of apple in the microwave and then remove it. | STEP 9: Turn right and walk across the room and then turn to the left to face the white table. | STEP 10: Place the piece of apple on the edge of the white table. | END