Task: Put a heated piece of apple on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          0.0            0              0              0
   1  Potato          -0.137         0.793          -2.116         0              0              0              79
   2  Potato          -0.160         0.959          0.991          0              0              0              84
   3  DishSponge      -1.072         0.913          -2.224         0              0              0              67
   4  ButterKnife     -0.668         0.913          -2.101         0              0              0              67
   5  WineBottle      1.669          0.881          2.429          0              0              0              88
   6  Spatula         1.738          0.928          -1.446         0              0              0              67
   7  Spatula         1.919          0.928          -1.797         0              0              0              67
   8  Spoon           -0.064         0.765          -1.981         0              90             0              79
   9  Spoon           0.522          0.931          1.220          0              0              0              84
  10  Egg             -0.160         0.980          1.220          0              0              0              84
  11  Egg             -1.610         1.237          -0.495         0              90             0              75
  12  Cup             -0.137         0.764          -1.981         0              0              0              79
  13  Plate           1.690          0.123          -1.397         0              270            0              61
  14  SoapBottle      -0.113         0.912          -1.725         0              0              0              67
  15  SoapBottle      1.871          1.656          -1.866         0              270            0              57
  16  Bowl            1.919          0.910          -1.212         0              0              0              67
  17  SaltShaker      1.670          0.549          2.327          0              0              0              87
  18  PepperShaker    -0.890         0.909          -2.188         0              0              0              67
  19  Bread           0.066          0.972          1.220          0              0              0              84
  20  Bread           0.180          0.972          0.534          0              0              0              84
  21  Mug             1.256          0.114          -1.968         0              0              0              59
  22  Mug             -0.283         0.759          -1.981         0              90             0              79
  23  Apple           -1.380         1.254          -0.910         0              90             0              75
  24  Apple           1.958          0.157          0.083          0              0              0              68
  25  Apple           -0.160         0.997          0.305          0              0              0              84
  26  Potato          1.466          0.942          -1.680         0              0              0              67
  27  Bowl            1.828          0.910          -1.446         0              0              0              67
  28  SoapBottle      1.462          0.551          2.379          0              0              0              87
  29  Fork            0.294          0.927          0.762          0              90             0              84
  30  Ladle           1.909          1.702          -1.673         0              270            0              57
  31  Bread           0.399          0.964          0.110          0              0              1.601          84
  32  Lettuce         0.522          1.011          0.991          0              0              0              84
  33  WineBottle      1.771          0.881          2.537          0              0              0              93
  34  Spatula         -0.047         0.941          0.076          0              0              0              84
  35  Plate           -1.438         1.187          -0.495         0              90             0              75
  36  SaltShaker      -1.109         0.909          -2.079         0              0              0              67
  37  Pot             1.567          0.948          -0.757         0              0              0              49
  38  Cup             -1.495         1.183          -0.910         0              90             0              75
  39  PepperShaker    0.034          2.147          -2.094         0              0              0              52
  40  Pan             1.845          0.948          -0.355         0              0              0              48
  41  ButterKnife     0.457          0.913          -2.085         0              0              0              67
  42  Tomato          -0.047         0.982          0.991          0              0              0              84
  43  DishSponge      0.294          0.930          1.220          0              0              0              84
  44  Egg             0.294          0.984          0.991          0              0              0              84
  45  Spoon           0.066          0.931          0.534          0              0              0              84
  46  Knife           0.002          0.936          -1.689         0              0              0              67
  47  Mug             -0.047         0.921          0.762          0              0              0              84
  48  StoveBurner     1.845          0.940          -0.355         0              0              0
  49  StoveBurner     1.567          0.940          -0.757         0              0              0
  50  Cabinet         -1.149         2.019          -1.979         0              90             0
  51  Cabinet         -1.149         2.265          -0.834         0              90             0
  52  Cabinet         -0.459         2.265          -2.0           0              0              0
  53  Cabinet         -1.100         2.019          -2.0           0              0              0
  54  Cabinet         1.719          2.019          -2.0           0              0              0
  55  Cabinet         1.179          2.019          -2.0           0              0              0
  56  Cabinet         0.199          2.019          -2.0           0              0              0
  57  Cabinet         1.75           2.019          -1.399         0              270            0
  58  Cabinet         1.75           2.019          -1.029         0              270            0
  59  Cabinet         1.379          0.469          -1.689         0              0              0
  60  Cabinet         -0.819         0.469          -1.689         0              0              0
  61  Cabinet         1.389          0.469          -1.059         0              270            0
  62  Cabinet         -0.839         0.469          -1.665         0              90             0
  63  StoveBurner     1.567          0.940          -0.355         0              0              0
  64  StoveBurner     1.845          0.940          -0.757         0              0              0
  65  Sink            -0.109         0.893          -2.009         0              0              0
  66  Drawer          -0.819         0.75           -1.690         0              0              0
  67  CounterTop      0.232          0.949          -2.002         0              0              0
  68  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  69  Vase            0.251          0.546          0.475          0              270            0
  70  Toaster         0.780          0.900          -2.080         0              0              0
  71  LightSwitch     0.108          1.315          2.75           0              180            0
  72  Vase            0.400          0.925          0.218          0              180            0
  73  Microwave       -1.233         0.900          -1.680         0              90             0
  74  Vase            1.465          1.662          -2.200         0              0              0
  75  Fridge          -1.495         0.0            -0.703         0              0              0
  76  Window          2.114          1.495          1.072          90             270            0
  77  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  78  Vase            0.333          0.546          1.272          0              270            0
  79  SinkBasin       -0.148         0.753          -2.026         0              0              0
  80  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  81  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  82  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  83  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  84  DiningTable     0.170          0.005          0.678          0              270            0
  85  Shelf           0.170          0.155          0.678          0              270            0
  86  Shelf           1.605          0.172          2.480          0              0              0
  87  Shelf           1.605          0.552          2.480          0              0              0
  88  Shelf           1.604          0.880          2.479          0              0              0
  89  ShelvingUnit    1.605          0.006          2.480          0              0              0
  90  Faucet          -0.143         1.028          -2.223         0              270            0
  91  Stool           -0.553         0.000          0.871          1.233          280.376        0
  92  Shelf           0.170          0.528          0.678          0              270            0
  93
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn around and go to the counter on the right of the sink. | STEP 2: Pick up the gray knife on the counter.  | STEP 3: Turn around and go to the left side of the island. | STEP 4: Cut the apple on the counter into three parts. | STEP 5: Turn right and go to the refrigerator on the right.  | STEP 6: Place the knife on middle shelf in the refrigerator. | STEP 7: Turn right and go back to the island with the apple.  | STEP 8: Take one piece of apple from the counter. | STEP 9: Turn right to go to the microwave on the right.  | STEP 10: Remove the apple from the microwave after heating it.  | STEP 11: Turn right and go back to the island.  | STEP 12: Place the apple piece on the counter on the left of  the rest of the apple.  | END