Task: He heat a piece of apple and place it on the counter across from 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           1.75           0.900          3.0            0              270            0
   1  Ladle           1.501          0.954          0.827          0              90             0              41
   2  DishSponge      1.844          1.638          0.319          0              0              0              50
   3  DishSponge      1.796          0.910          -1.374         0              90             0              45
   4  Fork            0.476          0.911          1.092          0              90             0              41
   5  Spoon           0.732          0.911          1.004          0              90             0              41
   6  Spoon           0.220          0.911          1.180          0              90             0              41
   7  Spatula         1.865          0.926          -1.288         0              0              0              45
   8  Egg             1.835          1.050          -0.888         0              270            0              65
   9  Egg             0.894          0.795          -1.599         0              0              0              60
  10  Cup             -0.838         0.748          -1.524         0              0              0              68
  11  Plate           1.839          0.912          0.415          0              90             0              41
  12  Tomato          1.77           0.134          1.636          0              270            0              59
  13  Bowl            1.805          1.631          -0.901         0              0              0              53
  14  Bowl            1.757          0.909          0.827          0              90             0              41
  15  SaltShaker      0.926          0.906          -1.230         0              90             0              45
  16  SaltShaker      1.451          0.905          0.311          0              90             0              41
  17  PepperShaker    1.770          1.630          -1.460         0              0              0              54
  18  Apple           1.726          0.968          -1.802         0              90             0              45
  19  Plate           1.802          1.647          -0.000         0              0              0              51
  20  SoapBottle      1.245          0.908          1.004          0              90             0              41
  21  Cup             1.097          0.909          -1.247         0              90             0              45
  22  Egg             -0.741         0.781          -1.489         0              0              0              68
  23  Fork            1.726          0.911          -1.631         0              270            0              45
  24  Ladle           1.586          0.955          -1.460         0              270            0              45
  25  Apple           -0.644         1.740          -1.629         0              0              0              68
  26  SaltShaker      0.220          0.905          1.004          0              90             0              41
  27  Pan             1.807          0.909          -0.320         0              180            0              43
  28  Tomato          -0.838         1.746          -1.664         0              0              0              68
  29  Spatula         1.696          1.080          0.074          0              0              49.769         47
  30  Potato          1.771          1.055          -0.676         0              270            0              65
  31  Knife           1.140          0.760          -1.584         271.503        77.663         282.515        60
  32  ButterKnife     0.732          0.910          0.827          0              90             0              41
  33  Bread           -0.790         0.537          -1.476         0              0              0              68
  34  Lettuce         1.245          1.010          1.180          0              90             0              41
  35  PepperShaker    1.656          0.906          -1.374         0              90             0              45
  36  Pot             1.548          0.909          0.075          0              180            0              47
  37  DishSponge      1.796          0.910          -1.631         0              90             0              45
  38  Spoon           1.865          0.912          -1.717         0              90             0              45
  39  Bowl            1.805          1.652          -0.353         0              0              0              52
  40  Mug             1.101          0.755          -1.654         0              270            0              60
  41  CounterTop      0.989          0.946          1.016          0              90             0
  42  StoveBurner     1.807          0.907          0.075          0              180            0
  43  StoveBurner     1.807          0.907          -0.320         0              180            0
  44  StoveBurner     1.543          0.907          -0.320         0              90             0
  45  CounterTop      0.989          0.946          -1.516         0              90             0
  46  Sink            1.100          0.906          -1.599         0              0              0
  47  StoveBurner     1.548          0.907          0.075          0              180            0
  48  Cabinet         1.658          2.299          1.313          0              0              0
  49  Cabinet         1.658          2.299          0.686          0              0              0
  50  Cabinet         1.658          2.049          0.673          0              0              0
  51  Cabinet         1.658          2.059          0.193          0              0              0
  52  Cabinet         1.658          2.059          -0.593         0              0              0
  53  Cabinet         1.658          2.049          -0.606         0              0              0
  54  Cabinet         1.658          2.049          -1.206         0              0              0
  55  Cabinet         1.658          2.049          -1.893         0              0              0
  56  Toaster         0.131          0.900          -1.589         0              0              0
  57  Window          -0.372         1.588          3.349          90             0              0
  58  Window          0.782          1.741          -1.893         90             0              0
  59  GarbageCan      1.770          -0.029         1.685          0              270            0
  60  SinkBasin       1.091          0.740          -1.599         0              0              0
  61  StoveKnob       1.364          0.821          0.086          48.421         270            0
  62  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  65  Microwave       1.752          0.900          -0.843         0              270            0
  66  LightSwitch     2.0            1.261          3.094          0              270            0
  67  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  68  Fridge          -0.533         0.0            -1.554         0              0              0
  69  Chair           1.068          0.000          1.752          0              191.622        0
  70  Faucet          1.110          1.138          -1.764         0              270            0
  71  Chair           0.357          0.000          1.710          0              178.899        0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

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