Task: To heat a piece of apple plus 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           -1.25          0.900          7.0            0              90             0
   1  Pan             -0.621         0.142          0.277          0              270            0              67
   2  DishSponge      -0.549         0.770          0.395          0              0              0              55
   3  DishSponge      -0.690         0.143          0.658          0              0              0              67
   4  ButterKnife     1.403          0.992          3.511          0              0              0              59
   5  ButterKnife     -0.459         0.992          0.670          0              0              0              59
   6  Pot             1.32           0.988          3.848          0              0              0              58
   7  Pot             1.317          0.988          4.294          0              0              0              54
   8  Spoon           0.735          0.773          0.395          0              0              0              51
   9  Spoon           1.292          0.772          3.223          0              0              0              52
  10  Spatula         1.493          1.007          3.231          0              0              0              59
  11  Spatula         1.332          0.906          2.422          0              180            0              82
  12  Fork            0.923          0.993          0.670          0              0              0              59
  13  Fork            -0.413         0.771          0.507          0              0              0              55
  14  Cup             -0.028         0.756          6.786          0              225            0              95
  15  Cup             0.273          1.093          0.213          0              0              0              75
  16  Plate           1.406          0.141          2.646          0              0              0              71
  17  Plate           1.406          0.141          3.143          0              0              0              70
  18  Knife           1.403          1.022          0.213          0              0              0              59
  19  Tomato          -0.158         0.809          6.604          0              270            0              95
  20  Mug             1.384          1.043          0.847          0              270            0              59
  21  Mug             0.046          1.574          0.295          0              0              0              72
  22  Apple           2.094          1.590          6.001          0              270            0              81
  23  Apple           -0.334         0.834          6.742          0              135            0              95
  24  Bowl            0.562          1.578          0.295          0              0              0              73
  25  Bread           -0.459         1.062          0.395          0              0              0              59
  26  Egg             1.966          1.565          5.501          0              270            0              81
  27  Knife           -0.535         1.022          0.303          0              0              0              59
  28  Fork            -0.096         0.760          6.787          0              0              0              95
  29  Apple           -0.535         1.067          0.578          0              0              0              59
  30  Kettle          1.593          0.981          3.25           0              255.000        0              59
  31  Plate           0.213          0.760          6.763          0              225            0              95
  32  SaltShaker      1.585          2.202          4.043          0              0              0              50
  33  Lettuce         1.449          0.932          2.050          0              0              0              82
  34  SoapBottle      -0.467         0.760          6.541          0              270            0              95
  35  Spatula         0.305          0.775          6.479          0              270            0              95
  36  PaperTowelRoll  1.135          1.096          3.324          0              0              0              59
  37  Pot             1.559          0.988          4.294          0              0              0              57
  38  Potato          2.094          1.550          5.251          0              270            0              81
  39  ButterKnife     0.192          0.771          0.451          0              0              0              56
  40  PepperShaker    -0.687         0.987          0.212          0              0              0              59
  41  Pan             1.562          0.988          3.848          0              0              0              53
  42  Tomato          1.966          1.565          5.626          0              270            0              81
  43  DishSponge      -0.312         0.759          6.416          0              270            0              95
  44  Cup             0.014          0.756          6.217          0              135            0              95
  45  Spoon           0.871          0.773          0.619          0              0              0              51
  46  Mug             0.958          1.574          0.295          0              0              0              66
  47  Cabinet         1.307          2.455          4.360          0              0              0
  48  Cabinet         1.054          0.422          1.710          0              0              0
  49  Drawer          1.280          0.808          4.718          0              0              0
  50  Cabinet         1.307          2.455          3.607          0              0              0
  51  Drawer          0.736          0.802          0.521          0              0              0
  52  Drawer          1.276          0.802          3.291          0              0              0
  53  StoveBurner     1.562          0.982          3.848          0              0              0
  54  StoveBurner     1.317          0.982          4.294          0              0              0
  55  Drawer          -0.482         0.802          0.521          0              0              0
  56  Drawer          0.124          0.802          0.521          0              0              0
  57  StoveBurner     1.559          0.982          4.294          0              0              0
  58  StoveBurner     1.320          0.982          3.848          0              0              0
  59  CounterTop      1.391          1.028          0.897          0              0              0
  60  CounterTop      1.391          1.028          4.716          0              0              0
  61  Cabinet         1.054          0.422          4.548          0              0              0
  62  Cabinet         1.317          2.134          0.517          0              0              0
  63  Cabinet         1.317          2.134          4.889          0              0              0
  64  Cabinet         1.317          2.134          3.095          0              0              0
  65  Cabinet         0.443          0.422          0.743          0              0              0
  66  Cabinet         1.270          2.134          0.434          0              0              0
  67  Cabinet         -0.775         0.422          0.743          0              0              0
  68  Cabinet         -0.168         0.422          0.743          0              0              0
  69  Cabinet         1.317          2.134          1.534          0              0              0
  70  Cabinet         1.054          0.422          2.990          0              0              0
  71  Cabinet         1.054          0.422          2.944          0              0              0
  72  Cabinet         -0.263         2.134          0.434          0              0              0
  73  Cabinet         0.252          2.134          0.434          0              0              0
  74  Sink            1.391          1.006          2.326          0              0              0
  75  Microwave       0.108          0.981          0.262          0              0              0
  76  HousePlant      -0.165         0.826          6.444          0              0              0
  77  CoffeeMachine   1.551          0.982          0.953          0              270            0
  78  Toaster         1.473          0.981          4.715          0              270            0
  79  Window          -2.065         1.916          3.626          90             90             0
  80  Window          1.763          2.007          2.299          90             270            0
  81  Fridge          2.035          0.0            5.625          0              0              0
  82  SinkBasin       1.387          0.880          2.338          0              90             0
  83  GarbageCan      2.001          -0.044         6.503          0              0              0
  84  StoveKnob       1.140          0.934          3.987          45             270            0
  85  StoveKnob       1.140          0.934          4.309          45             270            0
  86  StoveKnob       1.140          0.934          4.140          45             270            0
  87  StoveKnob       1.140          0.934          3.824          45             270            0
  88  Vase            -0.226         0.834          6.993          0              0              0
  89  Vase            2.098          0.043          7.070          0              257.232        0
  90  Vase            -0.594         0.835          6.130          0              225            0
  91  LightSwitch     -2.0           1.549          6.045          0              90             0
  92  Safe            2.046          1.072          7.054          0              257.232        0
  93  Faucet          1.534          1.025          2.371          0              294.391        0
  94  Blinds          1.738          2.563          2.312          0              90             0
  95  DiningTable     -0.156         0.000          6.474          0              0              0
  96  Chair           0.291          0.002          6.142          0              310.162        0
  97  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn right and walk across the room to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Cut the apple on the counter into three pieces. | STEP 4: Turn left and step forward to face the cabinet above the coffee maker. | STEP 5: Place the knife in the cabinet above the coffee maker. | STEP 6: Turn around and walk forward to face the apple on the counter. | STEP 7: Pick up a piece of apple on the counter. | STEP 8: Take a step to the left to face the microwave. | STEP 9: Heat the piece of apple in the microwave and remove it. | STEP 10: Turn left to face the sink. | STEP 11: Place the apple piece in the right side of the sink. | END