Task: To heat a piece of apple and place it 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           -0.75          0.900          0.0            0              90             0
   1  Pot             1.548          0.909          0.075          0              180            0              39
   2  Fork            1.865          0.911          -1.545         0              90             0              37
   3  Spoon           1.451          0.911          0.518          0              90             0              33
   4  Egg             1.739          0.105          1.540          0              270            0              51
   5  Egg             1.673          1.050          -0.782         0              270            0              57
   6  Cup             -0.692         1.387          -1.629         0              0              0              60
   7  Knife           1.762          0.943          0.622          0              180            0              33
   8  Knife           1.684          0.943          0.363          0              180            0              33
   9  Mug             0.502          0.940          -1.460         0              0              0              59
  10  Apple           1.183          0.968          -1.247         0              90             0              37
  11  Plate           1.802          1.647          -0.000         0              0              0              43
  12  SoapBottle      1.842          2.135          0.842          0              0              0              41
  13  Cup             0.989          0.908          0.739          0              90             0              33
  14  Egg             1.355          0.946          -1.282         0              90             0              37
  15  Fork            1.865          0.911          -1.717         0              90             0              37
  16  Ladle           0.220          0.954          0.915          0              90             0              33
  17  Apple           0.732          0.967          1.269          0              90             0              33
  18  SaltShaker      1.808          1.634          0.375          0              0              0              42
  19  Pan             1.281          0.900          1.190          0              0              0              33
  20  Tomato          -0.741         0.814          -1.594         0              0              0              60
  21  Spatula         1.308          0.775          -1.544         0              270            0              52
  22  Potato          1.77           0.110          1.731          0              270            0              51
  23  Knife           0.476          0.943          1.092          0              90             0              33
  24  ButterKnife     0.296          0.9            -1.296         0              14.568         0              37
  25  Bread           1.757          0.987          1.180          0              90             0              33
  26  Lettuce         0.856          0.989          1.120          0              270            1.731          33
  27  PepperShaker    1.878          2.131          1.275          0              180            0              40
  28  Pot             1.807          0.909          0.075          0              180            0              34
  29  DishSponge      1.770          1.634          -1.297         0              0              0              46
  30  Spoon           1.032          0.761          -1.544         0              0              0              52
  31  Bowl            0.732          0.909          0.827          0              90             0              33
  32  Mug             1.879          1.634          0.487          0              90             0              42
  33  CounterTop      0.989          0.946          1.016          0              90             0
  34  StoveBurner     1.807          0.907          0.075          0              180            0
  35  StoveBurner     1.807          0.907          -0.320         0              180            0
  36  StoveBurner     1.543          0.907          -0.320         0              90             0
  37  CounterTop      0.989          0.946          -1.516         0              90             0
  38  Sink            1.100          0.906          -1.599         0              0              0
  39  StoveBurner     1.548          0.907          0.075          0              180            0
  40  Cabinet         1.658          2.299          1.313          0              0              0
  41  Cabinet         1.658          2.299          0.686          0              0              0
  42  Cabinet         1.658          2.049          0.673          0              0              0
  43  Cabinet         1.658          2.059          0.193          0              0              0
  44  Cabinet         1.658          2.059          -0.593         0              0              0
  45  Cabinet         1.658          2.049          -0.606         0              0              0
  46  Cabinet         1.658          2.049          -1.206         0              0              0
  47  Cabinet         1.658          2.049          -1.893         0              0              0
  48  Toaster         0.131          0.900          -1.589         0              0              0
  49  Window          -0.372         1.588          3.349          90             0              0
  50  Window          0.782          1.741          -1.893         90             0              0
  51  GarbageCan      1.770          -0.029         1.685          0              270            0
  52  SinkBasin       1.091          0.740          -1.599         0              0              0
  53  StoveKnob       1.364          0.821          0.086          48.421         270            0
  54  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  55  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  56  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  57  Microwave       1.752          0.900          -0.843         0              270            0
  58  LightSwitch     2.0            1.261          3.094          0              270            0
  59  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  60  Fridge          -0.533         0.0            -1.554         0              0              0
  61  Chair           1.068          0.000          1.752          0              191.622        0
  62  Faucet          1.110          1.138          -1.764         0              270            0
  63  Chair           0.357          0.000          1.710          0              178.899        0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn to the right and walk forward to face the counter. | STEP 2: pick up the knife on the counter. | STEP 3: Step to the left to face the apple on the counter. | STEP 4: Cut the apple into the pieces. | STEP 5: Look up to face the sink. | STEP 6: Place the knife in the right side of the sink | STEP 7: Look down to face the apple on the counter. | STEP 8: Pick up a piece of apple on the counter. | STEP 9: Turn to the left and face the microwave. | STEP 10: Heat the piece of apple in the microwave and then remove it. | STEP 11: Turn left and walk forward to face the counter. | STEP 12: Place the piece of apple on the counter. | END