Task: Place a heated apple slice on the large table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.908          1.75           0              0              0
   1  Pan             -1.105         0.748          3.015          0              90             0              52
   2  SprayBottle     1.325          2.156          0.511          0              0              0              62
   3  CellPhone       -1.197         0.747          2.459          0              0              0              52
   4  DishSponge      1.127          0.776          0.368          0              0              0              85
   5  ButterKnife     1.128          0.911          0.706          0              0              0              71
   6  Kettle          -1.325         2.154          1.093          0              0              0              69
   7  Fork            -1.197         0.750          2.273          0              0              0              52
   8  Fork            1.200          0.886          2.692          0              90             0              103
   9  Spatula         -1.197         0.764          1.902          0              180            0              52
  10  Spatula         1.523          0.926          0.706          0              0              0              71
  11  Pot             0.802          0.939          -0.740         0              90             0              80
  12  Egg             1.444          0.945          -0.144         0              0              0              71
  13  Cup             1.356          1.655          -0.393         0              0              0              53
  14  Cup             -1.206         0.750          0.883          0              90             0              91
  15  Knife           -1.105         0.771          2.087          0              0              0              52
  16  Knife           -0.130         0.934          -0.365         0              0              0              77
  17  Tomato          -1.206         1.686          1.188          0              90             0              91
  18  SoapBottle      0.951          0.887          2.261          0              0              0              103
  19  Bowl            -1.012         0.748          2.644          0              0              0              52
  20  Bowl            -1.206         0.749          1.197          0              90             0              91
  21  Lettuce         1.365          0.982          0.139          0              0              0              71
  22  SaltShaker      1.284          0.882          2.153          0              0              0              103
  23  SaltShaker      1.450          0.882          2.800          0              0              0              103
  24  Mug             0.041          0.753          -0.573         0              0              0              98
  25  Mug             -1.378         1.283          0.673          0              90             0              91
  26  Bread           1.069          0.935          2.683          0              0              0              103
  27  Glassbottle     -0.919         0.750          2.459          0              0              0              52
  28  Fork            1.286          0.912          0.422          0              0              0              71
  29  Kettle          -0.694         1.657          -0.786         0              0              0              58
  30  Tomato          1.367          0.936          2.369          0              0              0              103
  31  Plate           1.131          0.117          -0.011         0              0              0              65
  32  CellPhone       1.117          0.884          2.153          0              0              0              103
  33  Lettuce         1.207          0.982          0.706          0              0              0              71
  34  Pot             0.502          0.939          -0.740         0              90             0              78
  35  SoapBottle      1.200          0.887          2.261          0              0              0              103
  36  WineBottle      -1.320         0.752          0.673          0              90             0              91
  37  Spatula         -0.968         0.927          -0.430         0              180            0              77
  38  Bowl            -1.290         0.748          2.644          0              0              0              52
  39  Apple           1.367          0.946          2.153          0              0              0              103
  40  Cup             1.207          0.910          0.139          0              0              0              71
  41  Knife           1.207          0.933          -0.144         0              0              0              71
  42  Egg             1.365          0.945          -0.428         0              0              0              71
  43  SaltShaker      -1.197         0.745          2.830          0              0              0              52
  44  PepperShaker    1.200          0.882          2.477          0              0              0              103
  45  Potato          0.041          0.803          -0.691         0              0              0              98
  46  ButterKnife     -0.038         0.912          -0.354         0              0              0              77
  47  DishSponge      -1.437         0.911          -0.392         0              0              0              77
  48  Pan             -1.332         0.9            -0.699         0              345.0          0              77
  49  Spoon           -1.105         0.750          2.459          0              0              0              52
  50  SprayBottle     -0.170         0.116          -0.621         0              0              0              66
  51  Mug             1.175          0.110          0.656          0              0              0              63
  52  DiningTable     -1.182         0.006          2.414          0              90             0
  53  Cabinet         1.184          2.059          0.375          0              0              0
  54  Cabinet         1.184          2.059          -0.635         0              0              0
  55  Cabinet         0.591          2.309          -0.645         0              0              0
  56  Cabinet         -0.574         2.059          -0.644         0              0              0
  57  Cabinet         -1.103         2.059          -0.644         0              0              0
  58  Cabinet         -1.185         2.059          -0.331         0              0              0
  59  Cabinet         -1.185         2.059          -0.281         0              0              0
  60  Cabinet         -1.185         2.059          0.375          0              0              0
  61  Cabinet         1.184          2.309          1.174          0              0              0
  62  Cabinet         1.184          2.309          0.424          0              0              0
  63  Cabinet         0.988          0.402          0.581          0              0              0
  64  Cabinet         0.988          0.402          0.531          0              0              0
  65  Cabinet         0.988          0.402          -0.178         0              0              0
  66  Cabinet         0.335          0.402          -0.348         0              0              0
  67  Cabinet         -0.374         0.402          -0.348         0              0              0
  68  Cabinet         0.988          0.402          1.231          0              0              0
  69  Cabinet         -1.185         2.309          1.374          0              0              0
  70  Cabinet         -1.185         2.309          0.424          0              0              0
  71  CounterTop      1.274          0.947          0.064          0              0              0
  72  Drawer          1.116          0.792          -0.015         0              0              0
  73  Drawer          -1.116         0.792          0.210          0              180            0
  74  Cabinet         -0.990         0.402          0.374          0              180            0
  75  Drawer          -1.116         0.792          -0.170         0              180            0
  76  Cabinet         -0.990         0.402          -0.335         0              180            0
  77  CounterTop      -1.001         0.947          -0.669         0              0              0
  78  StoveBurner     0.502          0.932          -0.740         0              90             0
  79  StoveBurner     0.801          0.932          -0.473         0              0              0
  80  StoveBurner     0.801          0.932          -0.740         0              90             0
  81  Drawer          1.116          0.792          1.081          0              0              0
  82  Sink            -0.013         0.912          -0.615         0              0              0
  83  Drawer          1.116          0.792          0.732          0              0              0
  84  StoveBurner     0.502          0.932          -0.469         0              0              0
  85  Drawer          1.116          0.792          0.367          0              0              0
  86  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  90  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  91  Fridge          -1.300         0.008          0.987          0              90             0
  92  GarbageCan      1.296          -0.024         1.465          0              0              0
  93  Window          -0.012         1.641          -0.972         90             0              0
  94  Window          1.598          1.646          2.489          90             270            0
  95  Toaster         1.356          0.900          1.044          0              270            0
  96  LightSwitch     0.118          1.353          3.799          0              180            0
  97  Microwave       -1.343         0.900          0.053          0              90             0
  98  SinkBasin       -0.029         0.748          -0.612         0              0              0
  99  Faucet          -0.026         0.927          -0.808         0              0              0
 100  Shelf           -1.182         0.127          2.414          0              90             0
 101  Stool           1.140          0.007          3.262          1.206          20.753         0
 102  Shelf           -1.182         0.435          2.414          0              90             0
 103  DiningTable     1.169          0.014          2.569          0              0              1.896
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Go to the counter near the stove | STEP 2: Pick up the knife from the counter | STEP 3: Go to the small white table | STEP 4: Cut the apple | STEP 5: Turn around to the big white table | STEP 6: Place the knife down in a bowl on the table | STEP 7: Turn around to the small white table | STEP 8: Pick up an apple piece | STEP 9: Go to the microwave | STEP 10: Heat the apple piece | STEP 11: Go to the big white table | STEP 12: Place the apple down on the big white table | END