Task: Put a piece of heated apple 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           0.0            0.900          0.25           0              270            0
   1  Potato          1.155          0.946          1.299          0              180            0              84
   2  Kettle          1.213          0.116          1.117          0              0              0              56
   3  Pot             1.155          0.915          1.468          0              0              0              84
   4  Spoon           1.174          0.773          -0.460         0              180            0              68
   5  Fork            2.217          0.772          1.198          0              270            0              80
   6  Spatula         0.888          0.926          -0.430         0              0              0              49
   7  Spatula         0.263          0.780          -0.707         0              90             0              106
   8  Plate           1.688          0.914          1.299          0              0              0              84
   9  Plate           2.221          0.914          1.299          0              0              0              84
  10  Cup             0.466          1.782          1.455          0              180            0              107
  11  Egg             -0.017         0.803          -0.541         0              0              0              106
  12  Egg             0.570          1.822          1.520          0              180            0              107
  13  Knife           1.688          0.944          1.044          0              0              0              84
  14  Knife           0.888          0.944          -0.684         0              0              0              49
  15  SoapBottle      -1.991         0.429          1.290          0              270            0              102
  16  SoapBottle      2.754          0.917          1.553          0              0              0              84
  17  Tomato          2.591          0.758          -0.535         0              0              0              104
  18  Bowl            1.155          0.909          1.129          0              0              0              84
  19  Bowl            2.153          0.112          1.193          0              0              0              85
  20  Bread           2.715          1.621          -0.644         0              0              0              104
  21  Bread           2.488          0.969          1.129          0              0              0              84
  22  Lettuce         2.754          0.992          1.214          0              0              0              84
  23  Mug             -0.198         0.906          1.468          0              270            0              60
  24  Apple           2.777          1.357          -0.775         0              0              0              104
  25  Apple           -1.962         0.492          1.417          0              270            0              102
  26  SoapBottle      -1.056         0.826          -1.308         0              90             0              108
  27  Plate           0.634          0.914          -0.430         0              0              0              49
  28  Fork            -0.621         0.821          -1.206         0              90             0              108
  29  Pot             0.281          0.964          1.082          0              0              0              55
  30  Bread           -0.198         0.969          1.129          0              0              0              60
  31  Egg             2.488          0.949          1.553          0              0              0              84
  32  Kettle          -0.141         1.655          -0.772         0              180            0              91
  33  Tomato          2.653          1.320          -0.775         0              0              0              104
  34  Cup             0.123          0.763          -0.651         0              0              0              106
  35  Spatula         -0.007         0.926          1.383          0              90             0              60
  36  Apple           -0.939         0.889          -1.400         0              0              0              108
  37  Pan             0.678          0.964          1.082          0              0              0              52
  38  Lettuce         1.955          0.992          1.214          0              0              0              84
  39  SaltShaker      0.054          0.908          -0.316         0              0              0              49
  40  Knife           0.193          0.798          -0.707         0              90             0              106
  41  Potato          -0.785         0.855          -1.400         0              0              0              108
  42  PepperShaker    -0.103         0.908          1.383          0              0              0              60
  43  ButterKnife     0.888          0.911          -0.430         0              90             0              49
  44  Bowl            1.485          0.112          -0.498         0              180            0              66
  45  DishSponge      1.955          0.911          1.468          0              0              0              84
  46  Spoon           -0.734         0.822          -1.255         0              0              0              108
  47  Mug             1.902          0.906          -0.430         0              0              0              49
  48  Sink            0.050          0.902          -0.648         0              0              0
  49  CounterTop      1.358          0.947          -0.600         0              0              0
  50  Cabinet         2.986          2.009          1.304          0              0              0
  51  Cabinet         1.022          2.009          -0.607         0              180            0
  52  StoveBurner     0.678          0.923          1.082          0              0              0
  53  Cabinet         2.371          0.402          0.995          0              0              0
  54  Drawer          -0.125         0.792          0.995          0              0              0
  55  StoveBurner     0.281          0.923          1.082          0              0              0
  56  Cabinet         1.025          0.402          0.995          0              0              0
  57  Cabinet         1.023          0.402          -0.296         0              180            0
  58  Cabinet         0.974          2.259          1.304          0              0              0
  59  Cabinet         0.979          2.009          -0.607         0              180            0
  60  CounterTop      -0.158         0.947          1.299          0              0              0
  61  Cabinet         1.725          2.009          1.304          0              0              0
  62  Drawer          2.205          0.792          -0.294         0              180            0
  63  Drawer          1.869          0.792          -0.294         0              180            0
  64  StoveBurner     0.281          0.923          1.347          0              0              0
  65  Drawer          2.512          0.792          0.995          0              0              0
  66  Cabinet         1.673          0.402          -0.296         0              180            0
  67  Drawer          1.524          0.792          0.995          0              0              0
  68  Drawer          1.174          0.792          -0.294         0              180            0
  69  Cabinet         1.720          0.402          0.995          0              0              0
  70  Cabinet         2.348          2.009          -0.607         0              180            0
  71  Cabinet         1.676          2.009          -0.607         0              180            0
  72  Cabinet         1.673          2.009          1.304          0              0              0
  73  Cabinet         2.326          2.009          1.304          0              0              0
  74  Cabinet         2.370          2.009          1.304          0              0              0
  75  Cabinet         0.021          2.009          1.304          0              0              0
  76  Cabinet         1.025          2.009          1.304          0              0              0
  77  Cabinet         -0.274         0.402          0.995          0              0              0
  78  Cabinet         1.675          0.402          0.995          0              0              0
  79  Drawer          1.524          0.792          -0.294         0              180            0
  80  Drawer          2.187          0.792          0.995          0              0              0
  81  Cabinet         2.977          0.402          0.995          0              0              0
  82  Drawer          1.862          0.792          0.995          0              0              0
  83  Cabinet         0.072          2.259          1.304          0              0              0
  84  CounterTop      1.917          0.947          1.299          0              0              0
  85  Cabinet         2.328          0.402          0.995          0              0              0
  86  Cabinet         1.723          2.009          -0.607         0              180            0
  87  StoveBurner     0.677          0.923          1.345          0              0              0
  88  Cabinet         0.355          2.009          -0.607         0              180            0
  89  Cabinet         0.332          2.009          -0.607         0              180            0
  90  Cabinet         2.349          0.402          -0.296         0              180            0
  91  Cabinet         -0.284         2.009          -0.607         0              180            0
  92  Faucet          0.061          0.906          -0.903         0              0              0
  93  Drawer          2.837          0.792          0.995          0              0              0
  94  Drawer          1.175          0.792          0.995          0              0              0
  95  Cabinet         1.723          0.402          -0.296         0              180            0
  96  StoveKnob       0.588          1.093          1.557          287.970        0              0
  97  StoveKnob       0.188          1.093          1.557          287.970        0              0
  98  StoveKnob       0.749          1.093          1.557          287.970        0              0
  99  StoveKnob       0.338          1.093          1.557          287.970        0              0
 100  Toaster         1.934          0.900          -0.717         0              0              0
 101  LightSwitch     -1.662         1.427          1.649          0              180            0
 102  GarbageCan      -1.965         -0.029         1.358          0              270            0
 103  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 104  Fridge          3.043          0.0            -0.709         0              0              0
 105  Window          -2.183         1.501          -0.014         90             270            0
 106  SinkBasin       0.043          0.755          -0.651         0              0              0
 107  Microwave       0.531          1.675          1.437          0              180            0
 108  DiningTable     -0.836         8.404          -1.258         0              0              0
 109  Chair           -1.611         0.002          -1.185         0              45             0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Turn around and go to the counter above the dishwasher.  | STEP 2: Pick up the gray knife on the counter  | STEP 3: Turn left and go to the round table with a gray cover. | STEP 4: Cut the red apple on the top of the table.  | STEP 5: Turn around and go to the sink on the right.  | STEP 6: Place the knife in the sink.  | STEP 7: Turn right and go back to the round table with the cut apple on top. | STEP 8: Pick up one piece of the apple.  | STEP 9: Turn around the go to the microwave above the stove.  | STEP 10: Remove the apple after heating in the microwave.  | STEP 11: Turn around and go back to the sink.  | STEP 12: Place the apple piece in the sink.  | END