Task: Heat up the apple from the black table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.900          -2.25          0              270            0
   1  Pan             -0.437         0.961          -1.845         0              180            0              43
   2  Potato          -0.740         0.845          -3.588         0              315            0              71
   3  Potato          -1.112         0.974          -3.799         0              45             0              42
   4  ButterKnife     -2.359         0.894          -0.548         0              270            0              79
   5  Spoon           -2.359         0.895          -0.204         0              270            0              79
   6  Spatula         -0.394         0.956          -1.494         0              0              0              60
   7  Spatula         -3.364         0.909          -0.462         0              270            0              79
   8  Egg             -3.786         0.801          -3.331         0              244.125        0              78
   9  Plate           -3.364         0.908          -0.204         0              270            0              79
  10  Knife           -0.244         0.967          -2.729         0              0              0              42
  11  Knife           -3.494         0.785          -3.527         0              289.125        0              78
  12  SoapBottle      -2.761         0.892          -0.204         0              0              0              79
  13  Tomato          -2.419         0.150          -3.571         0              0              0              67
  14  Bowl            -0.283         1.487          -0.994         0              270            0              72
  15  Bowl            -0.376         1.284          -0.529         0              270            0              72
  16  Lettuce         -0.240         1.033          -3.015         0              45             0              42
  17  Lettuce         -3.474         0.851          -3.765         0              334.125        0              78
  18  Mug             -0.202         1.933          -2.179         0              0              0              52
  19  Mug             -3.843         0.755          -3.567         0              244.125        0              78
  20  Apple           -2.560         0.956          -0.633         0              270            0              79
  21  SoapBottle      -3.163         0.892          -0.462         0              270            0              79
  22  Pot             -0.606         0.802          -3.419         0              315            0              71
  23  Fork            -0.473         0.942          -2.670         0              0              0              42
  24  Cup             -3.710         0.760          -2.850         0              334.125        0              78
  25  Tomato          -4.002         0.742          -0.430         0              0              0              77
  26  Pan             -0.222         0.961          -2.243         0              0              0              61
  27  Plate           -0.321         1.502          -0.529         0              270            0              72
  28  Bread           -3.580         0.841          -3.202         0              109.125        0              78
  29  Spatula         -0.315         0.956          -1.362         0              180            0              60
  30  Knife           -0.577         0.777          -2.685         0              270            0              47
  31  SaltShaker      -3.942         0.686          -0.187         0              0              0              77
  32  PepperShaker    -1.216         0.749          -3.505         0              0              0              48
  33  ButterKnife     -3.364         0.894          -0.462         0              0              0              79
  34  Apple           -4.062         0.751          -0.248         0              0              0              77
  35  DishSponge      -4.242         0.690          -0.187         0              0              0              77
  36  Potato          -0.201         1.607          -2.043         0              270            0              74
  37  Egg             -0.236         0.982          -1.581         0              0              0              60
  38  Spoon           -2.560         0.895          -0.204         0              270            0              79
  39  Lettuce         -4.182         0.782          -0.430         0              0              0              77
  40  Mug             -0.173         1.497          -3.052         0              0              0              59
  41  Bowl            -3.925         0.758          -3.399         0              244.125        0              78
  42  CounterTop      -1.937         0.977          -3.673         0              0              0
  43  StoveBurner     -0.437         0.924          -1.845         0              180            0
  44  StoveBurner     -0.222         0.924          -1.845         0              180            0
  45  StoveBurner     -0.437         0.924          -2.243         0              0              0
  46  Drawer          -0.500         0.779          -1.450         0              0              0
  47  Drawer          -0.481         0.777          -2.739         0              0              0
  48  Drawer          -1.154         0.782          -3.499         0              0              0
  49  Cabinet         -0.337         2.110          -0.390         0              0              0
  50  Cabinet         -0.337         2.110          -1.272         0              0              0
  51  Cabinet         -0.337         2.110          -1.631         0              0              0
  52  Cabinet         -0.337         2.110          -2.497         0              0              0
  53  Cabinet         -0.337         1.891          -1.286         0              0              0
  54  Cabinet         -0.346         1.891          -3.293         0              0              0
  55  Cabinet         -0.629         0.388          -2.513         0              0              0
  56  Cabinet         -0.633         0.388          -3.008         0              0              0
  57  Cabinet         -1.010         0.388          -3.368         0              0              0
  58  Cabinet         -0.629         0.388          -1.614         0              0              0
  59  Cabinet         -0.327         1.886          -2.513         0              0              0
  60  CounterTop      -0.326         0.976          -1.450         0              0              0
  61  StoveBurner     -0.222         0.924          -2.243         0              0              0
  62  Sink            -0.600         0.929          -3.388         0              0              0
  63  StoveKnob       -0.617         0.899          -1.833         315            90             180
  64  StoveKnob       -0.617         0.899          -2.129         315            90             180
  65  StoveKnob       -0.617         0.899          -2.289         315            90             180
  66  StoveKnob       -0.617         0.899          -1.975         315            90             180
  67  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  68  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  69  Window          -1.389         1.610          -4.113         90             0              0
  70  LightSwitch     -4.372         1.493          -1.031         0              90             0
  71  SinkBasin       -0.614         0.802          -3.384         0              315            0
  72  Fridge          -0.314         0.0            -0.646         0              0              0
  73  Toaster         -1.970         0.930          -3.763         0              0              0
  74  Microwave       -0.216         1.470          -2.054         0              270            0
  75  Blinds          -1.373         2.205          -3.961         0              0              0
  76  Faucet          -0.393         0.930          -3.614         270            225            0
  77  SideTable       -4.030         0.002          -0.301         0              185.034        0
  78  DiningTable     -3.586         0.000          -3.258         0              0              0
  79  DiningTable     -3.224         -0.003         -0.453         0              0              0
  80  Shelf           -4.030         0.259          -0.301         0              185.034        0
  81  Shelf           -4.030         0.489          -0.301         0              185.034        0
  82  EastWall
  83  EastWall
  84  SouthWall

Plan:
STEP 1: Turn right towards the small black table. | STEP 2: Pick up the apple from the table. | STEP 3: Turn around towards the round table and make a left towards the oven. | STEP 4: Heat the apple in the microwave and take out the apple. | STEP 5: Turn around towards the small black table on the right. | STEP 6: Place the apple to the right of the tomato on the table. | END