Task: Put 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           1.0            0.908          3.25           0              270            0
   1  SprayBottle     -0.813         0.911          -0.748         0              0              0              73
   2  SprayBottle     -1.513         0.911          -0.392         0              0              0              73
   3  Potato          0.103          0.803          -0.691         0              90             0              94
   4  Potato          1.301          0.131          1.409          0              0              0              88
   5  CellPhone       -1.197         0.747          2.273          0              0              0              48
   6  ButterKnife     -1.197         0.748          2.644          0              0              0              48
   7  Glassbottle     1.117          0.887          2.477          0              0              0              99
   8  WineBottle      -1.475         0.750          2.644          0              0              0              48
   9  Spoon           1.042          0.777          1.114          0              270            0              79
  10  Fork            1.117          0.886          2.692          0              0              0              99
  11  Egg             -0.082         0.793          -0.494         0              0              0              94
  12  Cup             -0.020         0.757          -0.612         0              0              0              94
  13  Plate           1.444          0.912          -0.144         0              0              0              67
  14  Knife           1.367          0.908          2.369          0              90             0              99
  15  SoapBottle      -0.724         1.657          -0.786         0              0              0              52
  16  SoapBottle      1.523          0.912          0.422          0              0              0              67
  17  Bowl            -1.206         1.419          0.883          0              90             0              87
  18  Bread           -1.012         0.812          2.644          0              0              0              48
  19  Lettuce         1.284          0.957          2.369          0              0              0              99
  20  SaltShaker      1.207          0.907          -0.428         0              0              0              67
  21  SaltShaker      1.444          0.907          0.706          0              0              0              67
  22  Bread           -1.206         1.700          1.188          0              90             0              87
  23  Glassbottle     -1.325         1.656          -0.204         0              0              0              55
  24  Fork            0.041          0.759          -0.612         0              180            0              94
  25  Kettle          -0.211         0.117          -0.490         0              0              0              63
  26  Tomato          -0.919         0.798          2.087          0              0              0              48
  27  Plate           1.128          0.912          0.706          0              0              0              67
  28  CellPhone       1.284          0.884          2.800          0              0              0              99
  29  Lettuce         -1.383         0.820          2.830          0              0              0              48
  30  Pot             0.510          0.936          -0.491         0              0              0              80
  31  SoapBottle      -1.264         0.118          0.248          0              180            0              70
  32  WineBottle      -1.475         0.749          2.459          0              0              0              48
  33  Spatula         1.523          0.926          -0.428         0              270            0              67
  34  Bowl            1.365          0.909          0.139          0              0              0              67
  35  Apple           -1.475         0.809          2.087          0              0              0              48
  36  Cup             -1.378         1.636          0.680          0              90             0              87
  37  Knife           1.207          0.933          0.422          0              0              0              67
  38  Egg             -0.206         0.792          -0.533         0              0              0              94
  39  SaltShaker      1.450          0.882          2.692          0              0              0              99
  40  PepperShaker    -1.012         0.745          1.902          0              0              0              48
  41  Potato          -1.394         1.060          -0.005         0              90             0              93
  42  ButterKnife     1.207          0.911          0.139          0              0              0              67
  43  DishSponge      1.155          0.775          0.765          0              0              0              79
  44  Pan             0.802          0.939          -0.473         0              0              0              75
  45  Spoon           1.042          0.777          0.733          0              90             0              79
  46  SprayBottle     -1.290         0.748          1.902          0              0              0              48
  47  Mug             -1.362         0.907          -0.477         0              0              0              73
  48  DiningTable     -1.182         0.006          2.414          0              90             0
  49  Cabinet         1.184          2.059          0.375          0              0              0
  50  Cabinet         1.184          2.059          -0.635         0              0              0
  51  Cabinet         0.591          2.309          -0.645         0              0              0
  52  Cabinet         -0.574         2.059          -0.644         0              0              0
  53  Cabinet         -1.103         2.059          -0.644         0              0              0
  54  Cabinet         -1.185         2.059          -0.331         0              0              0
  55  Cabinet         -1.185         2.059          -0.281         0              0              0
  56  Cabinet         -1.185         2.059          0.375          0              0              0
  57  Cabinet         1.184          2.309          1.174          0              0              0
  58  Cabinet         1.184          2.309          0.424          0              0              0
  59  Cabinet         0.988          0.402          0.581          0              0              0
  60  Cabinet         0.988          0.402          0.531          0              0              0
  61  Cabinet         0.988          0.402          -0.178         0              0              0
  62  Cabinet         0.335          0.402          -0.348         0              0              0
  63  Cabinet         -0.374         0.402          -0.348         0              0              0
  64  Cabinet         0.988          0.402          1.231          0              0              0
  65  Cabinet         -1.185         2.309          1.374          0              0              0
  66  Cabinet         -1.185         2.309          0.424          0              0              0
  67  CounterTop      1.274          0.947          0.064          0              0              0
  68  Drawer          1.116          0.792          -0.015         0              0              0
  69  Drawer          -1.116         0.792          0.210          0              180            0
  70  Cabinet         -0.990         0.402          0.374          0              180            0
  71  Drawer          -1.116         0.792          -0.170         0              180            0
  72  Cabinet         -0.990         0.402          -0.335         0              180            0
  73  CounterTop      -1.001         0.947          -0.669         0              0              0
  74  StoveBurner     0.502          0.932          -0.740         0              90             0
  75  StoveBurner     0.801          0.932          -0.473         0              0              0
  76  StoveBurner     0.801          0.932          -0.740         0              90             0
  77  Drawer          1.116          0.792          1.081          0              0              0
  78  Sink            -0.013         0.912          -0.615         0              0              0
  79  Drawer          1.116          0.792          0.732          0              0              0
  80  StoveBurner     0.502          0.932          -0.469         0              0              0
  81  Drawer          1.116          0.792          0.367          0              0              0
  82  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  83  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  86  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  87  Fridge          -1.300         0.008          0.987          0              90             0
  88  GarbageCan      1.296          -0.024         1.465          0              0              0
  89  Window          -0.012         1.641          -0.972         90             0              0
  90  Window          1.598          1.646          2.489          90             270            0
  91  Toaster         1.356          0.900          1.044          0              270            0
  92  LightSwitch     0.118          1.353          3.799          0              180            0
  93  Microwave       -1.343         0.900          0.053          0              90             0
  94  SinkBasin       -0.029         0.748          -0.612         0              0              0
  95  Faucet          -0.026         0.927          -0.808         0              0              0
  96  Shelf           -1.182         0.127          2.414          0              90             0
  97  Stool           1.140          0.007          3.262          1.206          20.753         0
  98  Shelf           -1.182         0.435          2.414          0              90             0
  99  DiningTable     1.169          0.014          2.569          0              0              1.896
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn left, walk forward until across from the end of the white table, turn right, walk to the table. | STEP 2: Pick up the apple from the counter. | STEP 3: Turn left, walk to counter, turn right, go to microwave. | STEP 4: Put apple in microwave and heat it. | STEP 5: Take apple out of microwave, turn left, walk to sink, turn right to face sink. | STEP 6: Put apple in the sink. | END