Task: Place a heated slice of apple on the counter by the lettuce.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          2.75           0              0              0
   1  Pan             -1.081         0.949          -1.527         0              0              0              71
   2  Pan             -1.081         0.949          -1.81          0              0              0              66
   3  Pen             -1.737         0.775          -1.500         0              90             0              75
   4  Pen             -1.712         0.913          0.032          0              0              0              72
   5  Potato          1.426          1.409          1.725          0              270            0              89
   6  Ladle           -0.552         0.955          -1.704         0              0              0              70
   7  Ladle           1.342          1.700          -0.815         0              0              0              58
   8  Kettle          1.414          1.163          -1.688         0              0              0              76
   9  Glassbottle     -0.342         0.117          -1.635         0              0              0              56
  10  Fork            -1.957         0.911          0.291          0              0              0              72
  11  Spoon           1.002          0.774          0.431          0              0              0              47
  12  Spoon           0.585          0.774          -1.533         0              0              0              74
  13  Pot             -1.431         0.949          -1.525         0              0              0              78
  14  Egg             1.341          0.243          1.108          0              0              0              87
  15  SoapBottle      -2.107         0.111          -1.632         0              0              0              73
  16  Tomato          1.459          0.254          1.051          0              0              0              87
  17  Bowl            1.343          0.911          -1.672         0              0              0              70
  18  Bowl            1.325          1.368          2.351          0              270            0              89
  19  Lettuce         1.414          1.231          -1.002         0              0              0              76
  20  Apple           1.302          0.249          1.022          0              0              0              87
  21  Tomato          1.325          1.407          1.851          0              270            0              89
  22  Glassbottle     0.149          0.920          -1.708         0              270            0              49
  23  Knife           -2.323         0.940          0.463          0              0              0              72
  24  Plate           0.049          0.115          -1.583         0              90             0              67
  25  Fork            0.251          0.920          -1.657         0              270            0              49
  26  Ladle           0.758          0.955          -1.789         0              0              0              70
  27  Potato          1.426          0.953          -1.331         0              0              0              70
  28  Lettuce         -2.079         0.979          0.463          0              0              0              72
  29  Kettle          1.454          1.163          -1.345         0              0              0              76
  30  Pen             -1.962         0.913          -1.707         0              0              0              65
  31  SaltShaker      1.150          0.112          0.606          0              0              0              53
  32  Cup             1.034          0.118          0.313          0              0              0              53
  33  Egg             0.320          0.948          -1.808         0              270            0              49
  34  Spatula         0.664          0.926          -1.619         0              0              0              70
  35  Bowl            0.726          1.656          -1.839         0              0              0              59
  36  SprayBottle     -1.353         1.857          -1.802         0              0              0              63
  37  Pan             -1.957         0.910          0.118          0              0              0              72
  38  SoapBottle      -2.323         0.910          0.204          0              0              0              72
  39  Pot             -1.431         0.949          -1.81          0              0              0              80
  40  ButterKnife     1.093          0.911          -0.990         0              0              0              70
  41  PepperShaker    0.200          1.650          -1.764         0              0              0              60
  42  DishSponge      0.183          0.919          -1.556         0              270            0              49
  43  Bread           1.164          0.975          -0.16          0              300.000        0              70
  44  Apple           1.323          1.754          1.775          0              270            0              89
  45  Spoon           0.758          0.912          -1.619         0              0              0              74
  46  Mug             1.070          0.957          -1.641         0              0              0              86
  47  Drawer          0.860          0.75           0.430          0              0              0
  48  Drawer          0.871          0.75           -1.134         0              0              0
  49  Sink            0.156          0.817          -1.801         0              270            0
  50  Cabinet         -0.868         2.005          -1.690         0              0              0
  51  Cabinet         -1.661         2.059          -1.684         0              90             0
  52  Cabinet         -0.817         2.059          -1.689         0              0              0
  53  Cabinet         0.860          0.402          0.665          0              0              0
  54  Cabinet         0.860          0.402          -0.552         0              0              0
  55  Cabinet         0.860          0.402          -1.365         0              0              0
  56  Cabinet         -0.244         0.402          -1.389         0              0              0
  57  Cabinet         -0.815         0.402          -1.389         0              0              0
  58  Cabinet         1.159          2.059          -0.334         0              0              0
  59  Cabinet         0.488          2.059          -1.689         0              0              0
  60  Cabinet         -0.193         2.059          -1.689         0              0              0
  61  Drawer          0.860          0.75           -0.699         0              0              0
  62  Cabinet         1.159          2.059          -1.019         0              0              0
  63  Cabinet         -1.611         2.005          -1.690         0              0              0
  64  Cabinet         0.832          0.401          -1.393         0              90             0
  65  Drawer          -2.105         0.75           -1.389         0              0              0
  66  StoveBurner     -1.081         0.941          -1.809         0              0              0
  67  Cabinet         -0.202         0.401          -1.391         0              90             0
  68  CounterTop      -1.973         0.945          -1.707         0              0              0
  69  Drawer          -0.375         0.75           -1.389         0              0              0
  70  CounterTop      1.164          0.946          -0.649         0              0              0
  71  StoveBurner     -1.081         0.941          -1.527         0              0              0
  72  CounterTop      -2.096         0.945          0.291          0              0              0
  73  Cabinet         -2.237         0.402          -1.389         0              0              0
  74  Drawer          0.584          0.75           -1.389         0              0              0
  75  Drawer          -1.795         0.75           -1.389         0              0              0
  76  CounterTop      1.5            1.197          -0.654         0              0              0
  77  Cabinet         -1.667         0.402          -1.389         0              0              0
  78  StoveBurner     -1.430         0.941          -1.525         0              0              0
  79  Drawer          -0.685         0.75           -1.389         0              0              0
  80  StoveBurner     -1.430         0.941          -1.809         0              0              0
  81  LightSwitch     -2.539         1.289          2.568          0              90             0
  82  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  83  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  84  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  85  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  86  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  87  GarbageCan      1.343          0.015          1.041          0              0              0
  88  HousePlant      1.440          1.153          0.593          0              0              0
  89  Fridge          1.417          0.0            2.101          0              0              0
  90  Window          -0.486         1.452          3.302          90             0              0
  91  SinkBasin       -0.063         0.765          -1.713         0              270            0
  92  Microwave       1.422          1.150          0.022          0              270            0
  93  Toaster         -2.066         0.900          -1.848         0              0              0
  94  Stool           -1.994         0.010          0.882          0              0              0
  95  Faucet          -0.096         1.041          -1.867         0              270            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn around, move to the counter on the right with the bar stool, and then turn left and continue to stand in front of the trash bin next to the fridge. | STEP 2: Pick up the green apple from inside the trash bin. | STEP 3: Turn right and carry the apple to the counter space just right of the dishwasher. | STEP 4: Place the apple on the counter. | STEP 5: Pick up the butter knife from the counter. | STEP 6: Use the knife to slice the apple on the counter. | STEP 7: Place the knife back down on the counter. | STEP 8: Pick up a slice of apple.  | STEP 9: Move left to stand in front of the microwave above the dishwasher. | STEP 10: Place the apple slice on the plate in the microwave and then remove it once heated. | STEP 11: Turn right and carry the apple slice back to face the counter just to the right of the dishwasher.  | STEP 12: Place the apple slice on the elevated counter to the left of the head of lettuce. | END