Task: To heat a piece of apple and place it in the microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          3.25           0              270            0
   1  DishSponge      0.702          0.691          2.496          0              0              0              38
   2  ButterKnife     -2.851         0.823          3.479          0              0              0              64
   3  Spoon           0.737          0.692          0.944          0              0              0              52
   4  Egg             -1.909         0.733          3.774          0              0              0              76
   5  Egg             -2.678         1.643          2.389          0              90             0              73
   6  Tomato          -1.317         0.969          1.349          0              90             0              82
   7  PepperShaker    -2.127         0.819          3.575          0              0              0              64
   8  SaltShaker      -2.431         1.038          1.597          0              0              0              44
   9  Lettuce         -2.636         0.843          2.221          0              90             0              73
  10  Mug             -2.694         0.990          2.333          0              90             0              73
  11  Apple           0.650          0.884          0.984          0              0              0              41
  12  Apple           1.024          0.884          2.371          0              0              0              46
  13  Plate           -1.717         0.131          3.675          0              0              0              63
  14  Fork            -0.789         0.901          1.349          0              90             0              82
  15  Bread           0.827          0.861          2.449          0              0              0              41
  16  Spatula         -0.789         0.915          1.452          0              0              0              82
  17  PaperTowelRoll  0.950          0.927          2.198          0              0              0              46
  18  Potato          -0.524         0.943          1.555          0              90             0              82
  19  SoapBottle      -0.524         0.900          0.937          0              90             0              82
  20  Egg             1.099          0.859          0.850          0              0              0              41
  21  Cup             -0.657         0.900          1.555          0              90             0              82
  22  Pot             0.642          0.850          1.375          0              0              0              58
  23  SaltShaker      0.650          0.819          2.285          0              0              0              46
  24  Pan             -2.667         0.812          3.74           0              137.145        0              64
  25  PepperShaker    -1.307         1.679          3.936          0              0              0              69
  26  ButterKnife     -2.172         0.812          3.552          0              0              0              64
  27  Tomato          -1.317         0.969          1.143          0              90             0              82
  28  DishSponge      0.703          0.692          2.163          0              0              0              35
  29  Lettuce         -0.580         0.956          1.358          31.822         0              0              82
  30  Spoon           -1.317         0.901          1.040          0              0              0              82
  31  Apple           -0.524         0.961          1.143          0              90             0              82
  32  Knife           -0.789         0.923          1.246          0              180            0              82
  33  Mug             -1.109         0.940          1.203          0              0              0              82
  34  Bowl            -2.581         1.847          1.904          0              0              0              66
  35  Drawer          0.729          0.703          2.199          0              0              0
  36  Cabinet         -1.962         1.926          3.733          0              0              0
  37  Cabinet         -2.377         2.014          1.058          0              0              0
  38  Drawer          0.729          0.703          2.532          0              0              0
  39  Cabinet         -2.622         1.925          3.733          0              0              0
  40  StoveBurner     0.913          0.843          1.375          0              0              0
  41  CounterTop      0.864          0.858          0.984          0              0              0
  42  Cabinet         -1.976         1.779          3.734          0              0              0
  43  Cabinet         0.580          0.385          0.819          0              0              0
  44  Cabinet         -2.379         1.408          1.677          0              0              0
  45  Cabinet         -0.419         1.703          3.736          0              0              0
  46  CounterTop      0.864          0.858          2.371          0              0              0
  47  Sink            -1.702         0.726          3.828          0              180            0
  48  Cabinet         0.580          0.385          2.694          0              0              0
  49  Cabinet         -2.379         0.637          1.677          0              0              0
  50  Cabinet         -0.419         0.674          3.736          0              0              0
  51  Cabinet         -2.377         2.014          2.558          0              0              0
  52  Drawer          0.729          0.703          0.980          0              0              0
  53  Drawer          -2.114         0.706          3.657          0              0              0
  54  Cabinet         -2.377         1.691          2.572          0              0              0
  55  Cabinet         -2.951         1.925          3.733          0              0              0
  56  Cabinet         0.580          0.385          2.360          0              0              0
  57  Cabinet         -2.426         0.435          3.421          0              0              0
  58  StoveBurner     0.642          0.843          1.375          0              0              0
  59  Cabinet         -2.377         1.927          1.686          0              0              0
  60  Cabinet         -2.377         2.013          3.177          0              0              0
  61  Cabinet         -1.136         0.385          3.516          0              0              0
  62  StoveBurner     0.913          0.843          1.768          0              0              0
  63  Cabinet         -1.974         0.385          3.516          0              0              0
  64  CounterTop      -2.081         0.858          3.799          0              0              0
  65  Cabinet         -2.426         0.435          3.174          0              0              0
  66  Cabinet         -2.377         2.014          1.693          0              0              0
  67  Cabinet         -1.986         0.385          3.511          0              0              0
  68  StoveBurner     0.642          0.843          1.768          0              0              0
  69  Cabinet         -1.098         1.926          3.729          0              0              0
  70  Microwave       -1.529         1.250          3.881          1.622          180            0
  71  CoffeeMachine   1.000          0.812          2.492          0              270            0
  72  LightSwitch     0.825          1.396          4.082          0              180            0
  73  Fridge          -2.642         0.0            2.134          0              180            0
  74  Window          -1.131         1.673          0.808          90             0              0
  75  GarbageCan      0.931          -0.000         2.918          0              0              0
  76  SinkBasin       -1.601         0.686          3.774          0              0              0
  77  StoveKnob       1.104          1.002          1.886          0              0              70.346
  78  StoveKnob       1.104          1.002          1.733          0              0              70.346
  79  StoveKnob       1.104          1.002          1.321          0              0              70.346
  80  StoveKnob       1.104          1.002          1.481          0              0              70.346
  81  Toaster         -2.247         0.812          3.862          0              180            0
  82  DiningTable     -0.917         -0.000         1.203          0              0              0
  83  Stool           -0.932         0.000          1.404          1.196          21.715         0
  84  Faucet          -1.842         0.809          3.984          0              180            0
  85  Faucet          -1.371         0.809          3.985          0              180            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn left, then walk across the room to the left end of the table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and step to the left to face the counter to the left of the stove. | STEP 4: Cut the apple on the counter into three pieces. | STEP 5: Take a step to the left and face the plate on the counter. | STEP 6: Put the knife on the plate on the counter. | STEP 7: Step to the right and face the cut apple. | STEP 8: Pick up a piece of the cut apple. | STEP 9: Turn to the left and walk to the left to face the microwave above the sink. | STEP 10: Heat the apple piece in the microwave and then remove it. | STEP 11: Turn right and walk across the room to face the trash can. | STEP 12: Place the piece of apple in the trash can. | END