Task: To heat a piece of apple plus place it on the microwave stand.

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          -2.5           0              90             0
   1  Potato          -1.843         0.832          -3.705         0              0              0              64
   2  DishSponge      0.582          0.883          -0.039         0              0              0              42
   3  DishSponge      0.672          0.772          -0.735         0              270            0              65
   4  Spoon           0.671          0.761          -0.061         0              0              0              41
   5  Fork            0.757          0.773          -0.680         0              270            0              65
   6  Egg             -1.370         0.088          -3.611         0              270            0              57
   7  Plate           -1.719         0.705          -1.199         0              0              0              78
   8  Knife           0.574          0.783          -0.124         0              90             0              41
   9  Tomato          0.746          1.207          -1.958         0              270            0              62
  10  SoapBottle      0.661          0.663          0.387          0              0              0              47
  11  SaltShaker      0.781          0.660          0.387          0              0              0              47
  12  SaltShaker      0.961          0.660          0.326          0              0              0              47
  13  Bread           0.149          0.944          0.929          0              270            0              68
  14  Lettuce         0.721          0.752          0.569          0              0              0              47
  15  Lettuce         -1.056         0.987          1.187          0              270            0              68
  16  Mug             0.901          0.660          0.448          0              0              0              47
  17  Apple           0.785          1.212          -2.190         0              270            0              62
  18  Apple           0.961          0.718          0.630          0              0              0              47
  19  Apple           0.841          0.826          -0.845         0              270            0              65
  20  Pot             -2.097         0.930          0.785          0              0              0              44
  21  Plate           -2.023         0.692          -1.447         0              0              0              78
  22  Fork            -1.886         0.702          -1.091         0              0              0              78
  23  SoapBottle      0.676          0.014          -0.250         0              0              0              52
  24  Apple           0.708          0.718          -1.725         0              270            0              62
  25  Pan             -1.552         0.930          0.785          0              0              0              46
  26  Egg             -1.949         0.836          -3.705         0              0              0              64
  27  Spatula         0.817          0.775          -0.124         0              90             0              41
  28  Potato          0.672          0.805          -0.625         0              270            0              65
  29  Cup             -1.635         0.700          -0.983         0              0              0              78
  30  SaltShaker      -1.599         0.696          -3.614         0              0              0              69
  31  PepperShaker    0.661          0.661          0.265          0              0              0              47
  32  ButterKnife     0.781          0.665          0.630          0              0              0              47
  33  DishSponge      0.671          0.760          -0.124         0              0              0              41
  34  Bread           -0.873         0.931          0.978          0              24.231         0              68
  35  Lettuce         0.746          0.751          -2.113         0              270            0              62
  36  Tomato          -1.224         0.100          -3.647         0              270            0              57
  37  Spoon           -1.056         0.901          1.272          0              0              0              68
  38  Knife           -1.885         0.724          -1.523         0              180            2.210          78
  39  Mug             -2.054         0.794          -3.705         0              0              0              64
  40  Bowl            -0.051         0.899          1.187          0              270            0              68
  41  Drawer          0.706          0.766          -0.125         0              0              0
  42  CounterTop      0.792          0.919          -0.108         0              0              0
  43  Mirror          1.093          1.602          -0.643         0              0              0
  44  StoveBurner     -2.096         0.890          0.785          0              0              0
  45  Cabinet         0.507          0.345          -0.426         0              0              0
  46  StoveBurner     -1.552         0.890          0.785          0              0              0
  47  SideTable       0.770          -0.030         0.443          0              0              0
  48  Sink            0.753          0.882          -0.680         0              0              0
  49  StoveBurner     -2.096         0.890          1.049          0              0              0
  50  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  51  StoveBurner     -1.554         0.890          1.049          0              0              0
  52  Cabinet         0.507          0.345          0.156          0              0              0
  53  Cabinet         0.717          1.822          -0.398         0              0              0
  54  Cabinet         0.717          1.822          0.669          0              0              0
  55  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  56  Toaster         -0.522         0.886          1.081          0              180            0
  57  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  58  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  60  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  61  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  62  Fridge          0.680          -0.031         -1.957         0              0              0
  63  Window          -2.424         1.639          -2.453         90             270            0
  64  Microwave       -1.994         0.690          -3.651         0              0              0
  65  SinkBasin       0.757          0.762          -0.688         0              270            0
  66  LightSwitch     1.102          1.368          -3.737         0              270            0
  67  Shelf           -0.350         0.124          0.857          0              0              0
  68  DiningTable     -0.350         -0.025         0.857          0              0              0
  69  DiningTable     -1.909         -0.032         -3.507         0              0              0
  70  Blinds          -2.343         2.151          -2.437         0              270            0
  71  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  72  AluminumFoil    0.751          0.225          0.287          0              0              0
  73  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  74  Shelf           0.771          0.226          0.445          0              0              0
  75  Shelf           0.771          0.456          0.446          0              0              0
  76  Faucet          1.025          0.873          -0.678         270            180            0
  77  Shelf           -0.350         0.497          0.857          0              0              0
  78  DiningTable     -1.929         -0.035         -1.398         0              90             0
  79  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn left and walk across the room and turn right to face the black table. | STEP 2: Pick up the knife on the black table on the counter. | STEP 3: Look up to face the apple on the black table. | STEP 4: Cut the apple on the black table into three pieces. | STEP 5: Turn left to face the white table. | STEP 6: Place the knife on the white table. | STEP 7: Turn to the right to face the apple on the black table. | STEP 8: Pick up a piece of apple on the black table. | STEP 9: Turn around and walk across the room to the left to face the microwave. | STEP 10: Heat the piece of apple in the microwave and remove it. | STEP 11: Look down to face the table the microwave is on. | STEP 12: Place the apple piece on the table. | END