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

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          0.75           0              180            0
   1  Pan             -1.289         0.957          -1.02          0              0              0              72
   2  Pan             -1.056         0.956          -0.672         0              180            0              54
   3  Statue          2.798          0.559          0.142          0              180            0              88
   4  Statue          -0.997         0.920          -0.170         0              90             0              75
   5  Potato          -0.657         0.941          -1.845         0              0              0              82
   6  Potato          1.845          0.093          0.080          0              0              0              85
   7  DishSponge      -0.205         0.913          0.135          0              0              0              75
   8  DishSponge      -1.028         0.135          -0.204         0              0              0              69
   9  ButterKnife     -0.375         1.131          0.441          0              0              0              78
  10  Spatula         -0.252         0.711          0.098          0              90             0              81
  11  Spatula         1.419          0.926          -1.929         0              0              0              82
  12  Fork            0.008          0.914          0.030          0              0              0              75
  13  Fork            -0.319         0.697          0.139          0              90             0              81
  14  Spoon           -0.634         0.914          0.083          0              180            0              75
  15  Plate           1.891          1.426          -0.737         0              270            0              89
  16  Plate           -0.598         1.129          0.529          0              0              0              78
  17  Knife           -1.244         0.907          -0.200         90             5.781          0              75
  18  Knife           -1.045         1.155          0.529          0              0              0              78
  19  Bowl            -1.03          0.125          -1.501         0              0              0              68
  20  Bowl            1.891          0.814          -0.458         0              270            0              89
  21  SaltShaker      -0.679         0.688          0.058          0              180            0              76
  22  SaltShaker      -1.386         1.658          0.094          0              0              0              66
  23  Apple           -1.413         0.962          -0.353         0              0              0              75
  24  Pan             -1.289         0.957          -0.756         0              180            0              57
  25  Knife           -0.657         0.715          -1.846         0              270            0              52
  26  Bowl            -1.322         0.908          -1.806         0              270            0              82
  27  Fork            -0.031         0.763          -2.063         0              0              0              92
  28  Cup             0.101          0.750          -1.938         0              0              0              92
  29  Ladle           0.969          0.948          -1.844         0              180            0              82
  30  Apple           2.002          0.111          0.080          0              0              0              85
  31  Kettle          -1.056         0.956          -1.127         0              0              0              79
  32  Vase            -0.152         1.133          0.618          0              0              0              78
  33  Potato          1.945          1.129          -0.365         0              270            0              89
  34  Pot             -1.089         0.9            0.235          0              0              0              75
  35  Bread           -1.139         0.987          -0.193         0              0              356.976        75
  36  Plate           1.891          1.426          -0.458         0              270            0              89
  37  Spatula         -0.993         0.926          -1.638         0              90             0              82
  38  PaperTowelRoll  2.487          0.656          -0.013         0              180            0              88
  39  Vase            3.105          0.886          0.141          0              180            0              86
  40  Egg             2.002          0.096          0.166          0              0              0              85
  41  SoapBottle      2.798          0.879          0.087          0              180            0              86
  42  SaltShaker      -1.322         0.907          -1.384         0              0              0              82
  43  Lettuce         1.194          0.987          -2.183         0              0              0              82
  44  PepperShaker    -0.611         0.690          0.190          0              180            0              76
  45  ButterKnife     -0.897         0.911          -1.845         0              0              0              82
  46  DishSponge      -0.658         0.111          -1.789         0              0              0              67
  47  Vase            2.979          0.539          0.128          0              0              0              88
  48  Spoon           -0.053         0.698          0.139          0              180            0              81
  49  Tomato          1.945          0.866          -0.271         0              270            0              89
  50  Mug             0.501          0.955          -1.900         0              0              0              98
  51  Statue          -0.420         0.920          0.188          0              0              0              75
  52  Drawer          -0.819         0.75           -1.690         0              0              0
  53  Cabinet         -1.149         2.264          -0.838         0              90             0
  54  StoveBurner     -1.056         0.949          -0.671         0              180            0
  55  Cabinet         1.738          2.019          -2.000         0              0              0
  56  Cabinet         1.389          0.469          -1.059         0              0              0
  57  StoveBurner     -1.289         0.949          -0.755         0              180            0
  58  Faucet          -0.157         1.052          -2.196         0              270            0
  59  Cabinet         1.75           2.019          -1.029         0              0              0
  60  Cabinet         1.75           2.019          -1.399         0              0              0
  61  Cabinet         1.179          2.019          -2.0           0              0              0
  62  Cabinet         0.199          2.019          -2.0           0              0              0
  63  Cabinet         -1.100         2.019          -2.0           0              0              0
  64  Cabinet         -1.149         2.019          -1.979         0              0              0
  65  Cabinet         -1.149         2.019          -0.770         0              0              0
  66  Cabinet         -1.149         2.019          0.380          0              0              0
  67  Cabinet         -0.819         0.469          -1.689         0              0              0
  68  Cabinet         -0.839         0.469          -1.664         0              0              0
  69  Cabinet         -0.839         0.469          -0.049         0              0              0
  70  Cabinet         -0.414         0.370          -0.009         0              0              0
  71  Sink            -0.118         0.875          -2.009         0              0              0
  72  StoveBurner     -1.289         0.949          -1.019         0              0              0
  73  Cabinet         0.119          2.264          -2.0           0              0              0
  74  Cabinet         -0.459         2.264          -2.0           0              0              0
  75  CounterTop      -0.665         0.949          0.188          0              0              0
  76  Drawer          -0.449         0.75           -0.010         0              180            0
  77  Cabinet         -0.450         0.469          -0.009         0              0              0
  78  CounterTop      -0.630         1.167          0.573          0              0              0
  79  StoveBurner     -1.056         0.949          -1.126         0              0              0
  80  Cabinet         1.376          0.460          -1.685         0              0              0
  81  Drawer          -0.070         0.75           -0.009         0              180            0
  82  CounterTop      1.159          0.946          -2.013         0              0              0
  83  Cabinet         -1.150         2.264          -1.418         0              90             0
  84  HousePlant      -1.246         1.108          0.606          0              0              0
  85  GarbageCan      1.923          -0.010         0.137          0              0              0
  86  Shelf           2.759          0.880          0.144          0              0              0
  87  Microwave       1.827          0.900          -1.354         0              270            0
  88  Shelf           2.759          0.552          0.145          0              0              0
  89  Fridge          1.975          0.0            -0.537         0              0              0
  90  LightSwitch     0.404          1.297          2.0            0              180            0
  91  Shelf           2.760          0.172          0.145          0              0              0
  92  SinkBasin       -0.129         0.752          -2.007         0              0              0
  93  StoveKnob       -0.873         0.903          -0.827         45             90             0
  94  StoveKnob       -0.873         0.903          -0.676         45             90             0
  95  StoveKnob       -0.873         0.903          -0.966         45             90             0
  96  StoveKnob       -0.873         0.903          -1.123         45             90             0
  97  Toaster         0.840          0.900          -2.057         0              0              0
  98  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  99  ShelvingUnit    2.760          0.006          0.144          0              0              0
 100  Stool           -0.826         0.010          0.908          0              347.513        0
 101  Stool           -0.132         0.010          0.883          0              71.555         0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn right and walk across the kitchen to face the counter to the right of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn to the right and step right to face the counter to the right of the stove. | STEP 4: Cut the apple on the counter into three pieces. | STEP 5: Turn left and step left to face the counter to the left of the sink. | STEP 6: Place the knife on the edge of the counter. | STEP 7: Turn to the right and step right to face the counter to the right of the stove. | STEP 8: Pick up a piece of apple on the counter. | STEP 9: Turn around and walk across to face the microwave on the counter. | STEP 10: Heat the apple piece and remove it from the microwave. | STEP 11: Turn to the right to face the counter. | STEP 12: Place the piece of apple on the counter next to the stove. | END