Task: To put a heated piece of apple in the sink with a knife.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.930          0.25           0              270            0
   1  Potato          1.164          1.111          -1.448         0              0              0              108
   2  Ladle           0.887          0.947          0.827          0              90             0              93
   3  Ladle           0.445          0.945          0.326          0              0              0              93
   4  DishSponge      3.140          0.176          0.841          0              0              0              71
   5  Kettle          -0.419         0.902          -1.269         0              315            0              64
   6  Kettle          3.200          0.901          -0.599         0              0              0              61
   7  Pot             -0.420         0.902          -0.920         0              135            0              57
   8  Fork            -0.991         0.518          -0.186         0              90             0              89
   9  CellPhone       -0.136         0.897          -1.393         0              45             0              83
  10  CellPhone       -0.868         0.515          1.518          0              0              0              50
  11  Mug             0.179          0.895          -1.373         0              0              0              83
  12  Apple           0.101          0.974          -1.731         0              0              0              83
  13  Apple           0.054          0.974          -1.481         0              45             0              83
  14  Bread           0.667          0.986          0.416          0              36.810         0              93
  15  PepperShaker    -0.871         1.254          -0.858         0              45             0              81
  16  Bowl            0.967          0.905          0.605          0              0              0              93
  17  SoapBottle      -0.207         1.272          -1.527         0              45             0              79
  18  SoapBottle      3.182          0.110          1.707          0              225            0              103
  19  Tomato          3.208          0.137          1.519          0              225            0              103
  20  Egg             1.164          0.763          -1.407         0              0              0              108
  21  Cup             1.164          0.883          -1.503         0              0              0              108
  22  Knife           -0.935         0.925          -0.047         0              0              0              62
  23  Plate           0.808          1.687          -1.480         0              0              0              77
  24  Glassbottle     -0.290         0.901          -1.547         0              45             0              83
  25  SoapBottle      -0.053         0.909          -1.682         0              45             0              83
  26  Potato          2.987          0.785          0.231          0              90             0              107
  27  Fork            3.069          0.747          0.032          0              270            0              107
  28  Ladle           0.445          0.945          0.527          0              0              0              93
  29  Pot             -0.935         0.900          0.399          0              0              0              62
  30  Kettle          1.160          1.675          -1.550         0              0              0              53
  31  Spatula         -0.950         0.145          0.751          0              90             0              92
  32  Knife           2.966          0.926          -0.798         0              90             0              61
  33  Lettuce         0.840          0.765          -1.422         27.470         0              0              108
  34  Cup             3.084          0.175          0.559          0              0              0              71
  35  SaltShaker      -0.991         0.127          1.605          0              0              0              86
  36  Egg             0.605          0.960          0.218          0              36.810         0              93
  37  PepperShaker    -0.909         0.127          1.343          0              0              0              86
  38  ButterKnife     -1.080         0.900          0.176          0              0              0              62
  39  Apple           1.229          0.981          0.464          0              0              0              93
  40  Pan             0.341          0.873          -1.649         0              167.065        0              83
  41  Bread           1.534          0.972          0.486          0              289.287        0              93
  42  CellPhone       0.101          0.897          -1.588         0              0              0              83
  43  DishSponge      -0.909         0.899          -0.722         0              45             0              62
  44  Tomato          0.017          0.937          -1.239         0              45             0              83
  45  Spoon           2.988          0.713          0.694          0              180            0              84
  46  Bowl            3.249          1.461          -1.599         0              0              0              60
  47  Mug             3.028          0.172          0.700          0              0              0              71
  48  Drawer          0.376          0.572          -1.509         0              0              0
  49  Drawer          3.020          0.769          -0.783         0              180            0
  50  Drawer          -0.860         0.577          1.429          0              0              0
  51  StoveBurner     -0.600         0.897          -1.090         0              135            0
  52  Drawer          0.376          0.191          -1.509         0              0              0
  53  Cabinet         1.402          1.874          -1.259         0              0              0
  54  Cabinet         -0.202         1.963          -1.328         0              0              0
  55  Drawer          -0.860         0.765          1.429          0              0              0
  56  Drawer          -0.677         0.765          -0.700         0              0              0
  57  StoveBurner     -0.420         0.897          -0.920         0              135            0
  58  Drawer          3.020          0.769          -0.407         0              180            0
  59  Drawer          -0.860         0.577          0.663          0              0              0
  60  Cabinet         2.819          1.768          -1.850         0              0              0
  61  CounterTop      3.111          0.936          0.019          0              0              0
  62  CounterTop      -1.007         0.935          -0.039         0              0              0
  63  Drawer          -0.860         0.385          0.663          0              0              0
  64  StoveBurner     -0.419         0.897          -1.269         0              315            0
  65  Drawer          -0.047         0.573          -1.324         0              0              0
  66  Drawer          -0.860         0.765          0.663          0              0              0
  67  Drawer          -0.860         0.385          -0.100         0              0              0
  68  Drawer          0.376          0.380          -1.509         0              0              0
  69  Drawer          -0.860         0.765          -0.100         0              0              0
  70  Drawer          0.376          0.765          -1.509         0              0              0
  71  Cabinet         2.849          0.419          0.409          0              0              0
  72  Drawer          -0.047         0.765          -1.324         0              0              0
  73  Cabinet         2.849          0.419          -0.610         0              0              0
  74  Cabinet         2.849          0.419          -0.959         0              0              0
  75  Cabinet         3.069          1.666          -0.709         0              0              0
  76  Cabinet         2.819          1.768          -1.047         0              0              0
  77  Cabinet         0.620          1.874          -1.259         0              0              0
  78  Cabinet         0.140          1.666          -1.559         0              0              0
  79  Cabinet         -0.189         1.666          -1.340         0              0              0
  80  Cabinet         -0.709         1.963          -0.819         0              0              0
  81  Cabinet         -0.920         1.665          -0.620         0              0              0
  82  Drawer          -0.860         0.190          -0.100         0              0              0
  83  CounterTop      0.133          0.935          -1.457         0              0              0
  84  Drawer          3.020          0.769          0.695          0              180            0
  85  Drawer          -0.677         0.577          -0.700         0              0              0
  86  Drawer          -0.860         0.190          1.429          0              0              0
  87  Drawer          -0.047         0.192          -1.324         0              0              0
  88  Drawer          -0.677         0.193          -0.700         0              0              0
  89  Drawer          -0.860         0.577          -0.100         0              0              0
  90  Sink            3.078          0.887          0.086          0              0              0
  91  StoveBurner     -0.239         0.897          -1.089         0              315            0
  92  Drawer          -0.860         0.190          0.663          0              0              0
  93  CounterTop      1.210          0.937          0.463          0              0              0
  94  Drawer          -0.047         0.381          -1.324         0              0              0
  95  Drawer          -0.677         0.387          -0.700         0              0              0
  96  Mirror          -1.295         1.630          0.045          0              0              0
  97  Drawer          -0.860         0.385          1.429          0              0              0
  98  HousePlant      3.196          0.891          -0.368         0              0              0
  99  StoveKnob       -0.090         0.790          -1.009         270            45             0
 100  StoveKnob       -0.280         0.790          -0.819         270            45             0
 101  StoveKnob       -0.180         0.790          -0.920         270            45             0
 102  StoveKnob       -0.370         0.790          -0.720         270            45             0
 103  GarbageCan      3.137          0.025          1.545          0              225            0
 104  Window          3.703          1.675          0.046          90             90             0
 105  CoffeeMachine   3.214          0.890          0.697          0              270            0
 106  LightSwitch     2.592          1.309          -1.880         0              0              0
 107  SinkBasin       3.069          0.736          0.108          0              90             0
 108  Fridge          1.008          0.029          -1.467         0              0              0
 109  Toaster         -1.035         0.873          -0.396         0              90             0
 110  Microwave       -1.034         0.874          1.428          0              90             0
 111  Faucet          3.305          0.886          0.094          270            180            0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Walk around the center table to face the counter on the opposite side of the room. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk around to face the opposite end of the center table. | STEP 4: Cut the apple on the center table into three pieces. | STEP 5: Turn around and walk forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around to step forward to face the center table. | STEP 8: Pick up the apple piece on the center table. | STEP 9: Walk around the center table to face the microwave. | STEP 10: Heat the piece of apple in the microwave and then remove it. | STEP 11: Turn around and walk across the room to face the sink. | STEP 12: Place the piece of apple in the sink. | END