Task: Heat up a slice of apple and place it in the sink.

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          0.900          0.0            0              0              0
   1  Pan             1.501          0.910          1.180          0              270            0              42
   2  Potato          1.239          0.800          -1.544         0              0              0              61
   3  Ladle           1.806          1.699          -0.050         0              0              0              52
   4  DishSponge      0.840          0.910          -1.247         0              90             0              46
   5  DishSponge      1.762          0.910          0.622          0              90             0              42
   6  Fork            1.839          0.911          0.518          0              90             0              42
   7  Fork            1.865          0.911          -1.631         0              270            0              46
   8  Spatula         0.476          0.925          0.827          0              180            0              42
   9  Egg             -0.887         1.126          -1.559         0              0              0              69
  10  Egg             0.894          0.795          -1.654         0              0              0              61
  11  Plate           0.476          0.912          1.180          0              90             0              42
  12  Knife           1.656          0.943          -1.717         0              90             0              46
  13  Knife           1.607          0.943          0.467          0              180            0              42
  14  SoapBottle      1.878          2.135          0.805          0              0              0              50
  15  SoapBottle      1.77           0.068          1.684          0              270            0              60
  16  Tomato          0.159          0.975          -1.263         0              90             0              46
  17  Tomato          1.796          0.975          -1.545         0              90             0              46
  18  PepperShaker    1.876          1.628          -1.119         0              0              0              54
  19  Mug             -0.374         1.054          -1.357         0              0              0              69
  20  Plate           1.805          1.634          -0.901         0              0              0              54
  21  SoapBottle      1.875          1.643          -1.643         0              0              0              56
  22  Cup             1.516          0.909          -1.374         0              90             0              46
  23  Egg             1.706          1.050          -0.729         0              270            0              66
  24  Fork            0.553          0.911          -1.793         0              180            0              46
  25  Ladle           1.201          0.926          0.743          3.362          0              346.986        42
  26  Apple           0.963          0.817          -1.488         0              0              0              61
  27  SaltShaker      1.607          0.905          0.363          0              90             0              42
  28  Pan             1.807          0.909          -0.320         0              180            0              44
  29  Tomato          1.796          0.975          -1.288         0              90             0              46
  30  Spatula         0.220          0.925          0.827          0              90             0              42
  31  Potato          0.579          0.9            0.938          0              315            0              42
  32  Knife           1.451          0.943          0.415          0              90             0              42
  33  ButterKnife     0.220          0.910          0.827          0              180            0              42
  34  Bread           1.615          0.977          0.761          0              50.525         0              42
  35  Lettuce         0.856          0.989          1.120          0              270            1.472          42
  36  PepperShaker    1.769          1.640          -1.683         0              0              0              56
  37  Pot             1.807          0.909          0.075          0              180            0              43
  38  DishSponge      1.032          0.760          -1.710         0              0              0              61
  39  Spoon           1.757          0.911          1.004          0              90             0              42
  40  Bowl            1.805          1.652          -0.353         0              0              0              53
  41  Mug             0.502          0.940          -1.460         0              0              0              68
  42  CounterTop      0.989          0.946          1.016          0              90             0
  43  StoveBurner     1.807          0.907          0.075          0              180            0
  44  StoveBurner     1.807          0.907          -0.320         0              180            0
  45  StoveBurner     1.543          0.907          -0.320         0              90             0
  46  CounterTop      0.989          0.946          -1.516         0              90             0
  47  Sink            1.100          0.906          -1.599         0              0              0
  48  StoveBurner     1.548          0.907          0.075          0              180            0
  49  Cabinet         1.658          2.299          1.313          0              0              0
  50  Cabinet         1.658          2.299          0.686          0              0              0
  51  Cabinet         1.658          2.049          0.673          0              0              0
  52  Cabinet         1.658          2.059          0.193          0              0              0
  53  Cabinet         1.658          2.059          -0.593         0              0              0
  54  Cabinet         1.658          2.049          -0.606         0              0              0
  55  Cabinet         1.658          2.049          -1.206         0              0              0
  56  Cabinet         1.658          2.049          -1.893         0              0              0
  57  Toaster         0.131          0.900          -1.589         0              0              0
  58  Window          -0.372         1.588          3.349          90             0              0
  59  Window          0.782          1.741          -1.893         90             0              0
  60  GarbageCan      1.770          -0.029         1.685          0              270            0
  61  SinkBasin       1.091          0.740          -1.599         0              0              0
  62  StoveKnob       1.364          0.821          0.086          48.421         270            0
  63  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  65  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  66  Microwave       1.752          0.900          -0.843         0              270            0
  67  LightSwitch     2.0            1.261          3.094          0              270            0
  68  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  69  Fridge          -0.533         0.0            -1.554         0              0              0
  70  Chair           1.068          0.000          1.752          0              191.622        0
  71  Faucet          1.110          1.138          -1.764         0              270            0
  72  Chair           0.357          0.000          1.710          0              178.899        0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Turn right and walk to the stove, then turn right and go to the sink. | STEP 2: Pick up the knife on the counter to the top left of the sink. | STEP 3: Take a step back to be centered with the sink. | STEP 4: Slice the apple in the sink. | STEP 5: Stand the knife upright in the sink to the right of the drain. | STEP 6: Pick up the top left slice of apple. | STEP 7: Turn left to face the microwave. | STEP 8: Place the apple in the microwave to the right of the egg and turn on for a few seconds.  Remove the apple when the microwave is off. | STEP 9: Return to the kitchen sink. | STEP 10: Place the apple in the sink behind the potato. | END