Task: Place a heated apple on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.900          -3.0           0              0              0
   1  Glassbottle     -0.343         0.081          -3.330         0              0              0              58
   2  Glassbottle     -0.186         1.528          -2.809         0              0              0              64
   3  Pen             -2.210         0.926          -1.884         0              0              0              77
   4  Pen             -2.324         0.926          -1.884         0              0              0              77
   5  Potato          -1.362         1.661          -3.903         0              0              0              65
   6  DishSponge      -0.383         0.080          -2.201         0              0              0              57
   7  DishSponge      -0.778         0.081          -3.623         0              0              0              56
   8  ButterKnife     -2.324         0.923          -2.115         0              0              0              77
   9  ButterKnife     -2.438         0.923          -2.345         0              0              0              77
  10  WineBottle      -0.600         0.916          -3.555         0              0              0              52
  11  WineBottle      -1.912         0.027          -3.763         0              0              0              68
  12  Pot             -1.129         0.935          -3.498         0              0              0              50
  13  Fork            -2.096         0.924          -1.423         0              0              0              77
  14  Knife           -2.666         0.946          -0.963         0              180            0              77
  15  Cup             -0.447         0.796          -1.934         0              270            0              70
  16  Cup             -0.671         0.914          -3.697         0              0              0              52
  17  Egg             -0.246         1.131          -0.979         0              270            0              69
  18  Egg             -0.246         1.423          -0.874         0              270            0              69
  19  Bowl            -1.100         1.968          -3.851         0              0              0              53
  20  Lettuce         -2.780         1.016          -2.345         0              0              0              77
  21  Mug             -0.351         0.962          -3.144         0              270            0              66
  22  Apple           -0.343         1.172          -1.084         0              270            0              69
  23  Lettuce         -2.324         1.016          -1.423         0              0              0              77
  24  Glassbottle     -0.600         0.916          -3.839         0              0              0              52
  25  Egg             -0.228         1.723          -0.979         0              270            0              69
  26  Pen             -0.436         0.918          -2.764         0              0              0              52
  27  Fork            -2.438         0.924          -1.884         0              0              0              77
  28  SoapBottle      -2.096         0.922          -0.963         0              0              0              77
  29  Pencil          -0.778         0.747          -3.527         0              90             0              51
  30  WineBottle      -0.508         0.916          -2.563         0              0              0              52
  31  Spatula         -2.552         0.938          -1.423         0              270            0              77
  32  Bread           -0.415         0.952          -3.625         0              0              0              52
  33  Tomato          -0.295         1.162          -0.560         0              270            0              69
  34  Pan             -1.515         0.935          -3.752         0              90             0              48
  35  Cup             -0.302         0.796          -1.934         0              270            0              70
  36  Pot             -2.552         0.922          -1.193         0              0              0              77
  37  SaltShaker      -2.096         0.919          -2.115         0              0              0              77
  38  Potato          -2.780         0.954          -1.654         0              0              0              77
  39  PepperShaker    -2.780         0.919          -2.115         0              0              0              77
  40  ButterKnife     -2.438         0.923          -1.654         0              0              0              77
  41  DishSponge      -0.420         0.746          -3.297         0              0              0              63
  42  Spoon           -0.328         0.786          -2.125         0              33.895         0              70
  43  Plate           -0.295         1.533          -3.637         0              45             0              60
  44  Knife           -0.600         0.938          -3.485         0              0              0              52
  45  Mug             -0.246         1.093          -0.770         0              270            0              69
  46  Bowl            -0.422         0.080          -1.758         0              0              0              47
  47  Cabinet         -0.582         0.388          -1.804         0              0              0
  48  StoveBurner     -1.515         0.928          -3.752         0              90             0
  49  StoveBurner     -1.515         0.928          -3.497         0              0              0
  50  StoveBurner     -1.129         0.928          -3.498         0              0              0
  51  Drawer          -0.749         0.779          -3.551         0              0              0
  52  CounterTop      -0.303         0.951          -2.793         0              0              0
  53  Cabinet         -0.883         2.140          -3.687         0              0              0
  54  Cabinet         -0.312         2.140          -1.543         0              0              0
  55  Sink            -0.349         0.907          -2.014         0              0              0
  56  Cabinet         -0.877         0.388          -3.422         0              0              0
  57  Cabinet         -0.582         0.388          -2.197         0              0              0
  58  Cabinet         -0.584         0.388          -3.396         0              0              0
  59  Cabinet         -0.312         2.140          -2.481         0              0              0
  60  Cabinet         -0.330         1.921          -3.390         0              0              0
  61  Cabinet         -1.764         2.140          -3.687         0              0              0
  62  StoveBurner     -1.129         0.928          -3.752         0              90             0
  63  Drawer          -0.454         0.779          -3.268         0              0              0
  64  Cabinet         -0.302         1.916          -2.501         0              0              0
  65  Microwave       -1.317         1.517          -3.801         0              1.440          0
  66  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  67  LightSwitch     -4.323         1.319          0.0            0              180            0
  68  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  69  Fridge          -0.330         0.0            -0.769         0              270            0
  70  SinkBasin       -0.350         0.786          -2.018         0              270            0
  71  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  72  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  75  Toaster         -0.181         0.903          -2.764         0              270            0
  76  Window          -2.503         1.782          -4.185         90             180            0
  77  DiningTable     -2.432         0.000          -1.694         0              270            0
  78  Shelf           -2.432         0.150          -1.694         0              270            0
  79  Blinds          -2.536         2.699          -3.959         0              0              0
  80  Faucet          -0.079         0.904          -2.034         270            180            0
  81  Chair           -3.264         0.002          -2.094         0              53.280         0
  82  Chair           -3.240         0.002          -1.253         0              117.257        0
  83  Shelf           -2.432         0.523          -1.694         0              270            0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn right, hang a left at the stove and walk to the black fridge on the right. | STEP 2: Pick up the chilled apple from the right side of the middle shelf inside the fridge and close the door. | STEP 3: Turn around, walk to the white stove on the left, and look up at the microwave. | STEP 4: Put the apple inside the microwave, heat it, remove it and close the door. | STEP 5: Turn around and walk to the green table on the left. | STEP 6: Put the heated apple on the middle of the table to the left of the spoon. | END