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

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          2.25           0              180            0
   1  Potato          -2.645         1.650          2.221          0              90             0              79
   2  DishSponge      0.704          0.125          2.493          0              0              0              54
   3  ButterKnife     0.950          0.823          2.198          0              0              0              52
   4  ButterKnife     -1.698         0.823          3.545          0              0              0              70
   5  Fork            0.635          0.691          0.944          0              90             0              58
   6  Fork            1.025          0.813          2.458          0              0              0              44
   7  Egg             -1.317         0.936          1.143          0              90             0              88
   8  Cup             -1.767         0.127          3.636          0              0              0              69
   9  Cup             -0.657         0.900          1.555          0              90             0              88
  10  Knife           -0.657         0.923          1.143          0              180            0              88
  11  Knife           -0.789         0.923          1.246          0              180            0              88
  12  SoapBottle      -1.697         1.683          3.858          0              0              0              42
  13  SoapBottle      -2.424         1.398          3.858          0              0              0              45
  14  Bowl            -2.519         0.993          2.389          0              90             0              79
  15  PepperShaker    -1.317         0.896          1.040          0              90             0              88
  16  SaltShaker      0.820          0.122          2.572          0              0              0              54
  17  SaltShaker      -0.789         0.896          1.555          0              90             0              88
  18  Apple           -1.185         0.961          1.555          0              90             0              88
  19  Plate           -1.393         0.131          3.674          0              0              0              67
  20  Fork            0.839          0.692          2.235          0              270            0              41
  21  Bread           0.818          0.861          2.449          0              0              0              47
  22  Spatula         0.650          0.838          2.111          0              90             0              52
  23  PaperTowelRoll  0.960          0.128          2.947          0              0              0              81
  24  Potato          -2.461         1.234          2.165          0              90             0              79
  25  SoapBottle      1.024          0.822          1.028          0              0              0              47
  26  Egg             -1.317         0.936          0.937          0              90             0              88
  27  Cup             -2.473         0.718          1.814          0              90             0              79
  28  Pot             0.913          0.850          1.768          0              0              0              68
  29  SaltShaker      0.650          0.819          1.028          0              0              0              47
  30  Pan             0.642          0.850          1.375          0              0              0              64
  31  PepperShaker    0.781          0.122          2.316          0              0              0              62
  32  ButterKnife     -2.172         0.812          3.552          0              0              0              70
  33  Tomato          -0.524         0.969          1.555          0              90             0              88
  34  DishSponge      1.024          0.822          2.285          0              0              0              52
  35  Lettuce         -0.580         0.956          1.358          31.822         0              0              88
  36  Spoon           0.635          0.693          2.496          0              90             0              44
  37  Apple           -2.636         1.056          2.221          0              90             0              79
  38  Knife           -1.317         0.923          1.452          0              180            0              88
  39  Mug             -0.524         0.895          1.040          0              90             0              88
  40  Bowl            -2.636         0.765          2.221          0              90             0              79
  41  Drawer          0.729          0.703          2.199          0              0              0
  42  Cabinet         -1.962         1.926          3.733          0              0              0
  43  Cabinet         -2.377         2.014          1.058          0              0              0
  44  Drawer          0.729          0.703          2.532          0              0              0
  45  Cabinet         -2.622         1.925          3.733          0              0              0
  46  StoveBurner     0.913          0.843          1.375          0              0              0
  47  CounterTop      0.864          0.858          0.984          0              0              0
  48  Cabinet         -1.976         1.779          3.734          0              0              0
  49  Cabinet         0.580          0.385          0.819          0              0              0
  50  Cabinet         -2.379         1.408          1.677          0              0              0
  51  Cabinet         -0.419         1.703          3.736          0              0              0
  52  CounterTop      0.864          0.858          2.371          0              0              0
  53  Sink            -1.702         0.726          3.828          0              180            0
  54  Cabinet         0.580          0.385          2.694          0              0              0
  55  Cabinet         -2.379         0.637          1.677          0              0              0
  56  Cabinet         -0.419         0.674          3.736          0              0              0
  57  Cabinet         -2.377         2.014          2.558          0              0              0
  58  Drawer          0.729          0.703          0.980          0              0              0
  59  Drawer          -2.114         0.706          3.657          0              0              0
  60  Cabinet         -2.377         1.691          2.572          0              0              0
  61  Cabinet         -2.951         1.925          3.733          0              0              0
  62  Cabinet         0.580          0.385          2.360          0              0              0
  63  Cabinet         -2.426         0.435          3.421          0              0              0
  64  StoveBurner     0.642          0.843          1.375          0              0              0
  65  Cabinet         -2.377         1.927          1.686          0              0              0
  66  Cabinet         -2.377         2.013          3.177          0              0              0
  67  Cabinet         -1.136         0.385          3.516          0              0              0
  68  StoveBurner     0.913          0.843          1.768          0              0              0
  69  Cabinet         -1.974         0.385          3.516          0              0              0
  70  CounterTop      -2.081         0.858          3.799          0              0              0
  71  Cabinet         -2.426         0.435          3.174          0              0              0
  72  Cabinet         -2.377         2.014          1.693          0              0              0
  73  Cabinet         -1.986         0.385          3.511          0              0              0
  74  StoveBurner     0.642          0.843          1.768          0              0              0
  75  Cabinet         -1.098         1.926          3.729          0              0              0
  76  Microwave       -1.529         1.250          3.881          1.622          180            0
  77  CoffeeMachine   1.000          0.812          2.492          0              270            0
  78  LightSwitch     0.825          1.396          4.082          0              180            0
  79  Fridge          -2.642         0.0            2.134          0              180            0
  80  Window          -1.131         1.673          0.808          90             0              0
  81  GarbageCan      0.931          -0.000         2.918          0              0              0
  82  SinkBasin       -1.601         0.686          3.774          0              0              0
  83  StoveKnob       1.104          1.002          1.886          0              0              70.346
  84  StoveKnob       1.104          1.002          1.733          0              0              70.346
  85  StoveKnob       1.104          1.002          1.321          0              0              70.346
  86  StoveKnob       1.104          1.002          1.481          0              0              70.346
  87  Toaster         -2.247         0.812          3.862          0              180            0
  88  DiningTable     -0.917         -0.000         1.203          0              0              0
  89  Stool           -0.932         0.000          1.404          1.196          21.715         0
  90  Faucet          -1.842         0.809          3.984          0              180            0
  91  Faucet          -1.371         0.809          3.985          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn around and walk forward to face the sink. | STEP 2: Pick up the knife on the edge of the sink. | STEP 3: Turn around and walk forward to face the table. | STEP 4: Cut the apple on the table into three pieces. | STEP 5: Turn around and walk across the room to face the food cabinet. | STEP 6: Place the knife on the bottom of the food cabinet. | STEP 7: Turn around and walk forward to face the apple on the table. | STEP 8: Pick up a piece of apple on the table. | STEP 9: Turn around and walk across the room and look up to face the microwave. | STEP 10: Heat the piece of apple 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 and place it in the trash can. | END