Task: To heat an apple and 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           -0.5           0.900          -0.5           0              90             0
   1  Pan             1.845          0.948          -0.355         0              0              0              44
   2  Ladle           0.008          0.808          -2.026         0              0              0              75
   3  DishSponge      -0.137         0.764          -1.936         0              0              0              75
   4  DishSponge      1.566          0.552          2.534          0              0              0              83
   5  ButterKnife     0.921          0.913          -2.169         0              0              0              63
   6  ButterKnife     0.002          0.913          -1.725         0              0              0              63
   7  WineBottle      1.340          1.660          -2.238         0              0              0              50
   8  Spatula         1.153          0.928          -1.751         0              0              0              63
   9  Spatula         1.153          0.928          -2.169         0              0              0              63
  10  Fork            0.180          0.927          1.220          0              90             0              80
  11  Cup             1.985          1.657          -1.866         0              270            0              53
  12  Cup             1.256          0.119          -1.914         0              0              0              55
  13  SoapBottle      -0.616         0.912          -2.233         0              0              0              63
  14  SoapBottle      1.462          0.551          2.379          0              0              0              83
  15  Bowl            1.909          1.654          -1.608         0              270            0              53
  16  Bowl            1.773          0.549          2.482          0              0              0              89
  17  Mug             -1.313         2.142          -1.349         0              90             0              47
  18  Mug             1.261          0.951          -1.934         0              0              0              73
  19  Apple           -1.572         1.575          -1.013         0              90             0              71
  20  Apple           -0.720         0.984          -2.167         0              0              0              63
  21  Apple           -1.495         1.575          -0.599         0              90             0              71
  22  Potato          0.522          0.959          0.762          0              0              0              80
  23  Bowl            0.294          0.923          0.076          0              0              0              80
  24  SoapBottle      0.066          0.929          0.534          0              0              0              80
  25  Fork            0.408          0.931          0.305          0              0              0              80
  26  Ladle           0.457          0.957          -2.169         0              0              0              63
  27  Bread           0.066          0.972          0.991          0              0              0              80
  28  Lettuce         1.828          0.994          -1.329         0              0              0              63
  29  WineBottle      0.522          0.927          0.076          0              0              0              80
  30  Spatula         0.457          0.928          -1.751         0              0              0              63
  31  Plate           1.631          0.123          -1.397         0              270            0              57
  32  SaltShaker      -0.890         0.909          -2.079         0              0              0              63
  33  Pot             -0.117         0.921          1.5            0              0              0              80
  34  Cup             2.009          0.913          -1.095         0              0              0              63
  35  PepperShaker    1.294          0.115          -1.806         0              0              0              55
  36  Pan             1.567          0.948          -0.757         0              0              0              45
  37  ButterKnife     -0.346         0.913          -1.737         0              0              0              63
  38  Tomato          -0.160         0.978          0.305          0              0              0              80
  39  DishSponge      -0.137         0.764          -2.071         0              0              0              75
  40  Egg             -1.553         0.913          -0.392         0              90             0              71
  41  Spoon           -0.283         0.765          -2.026         0              0              0              75
  42  Knife           0.408          0.953          0.534          0              0              0              80
  43  Mug             -1.438         1.178          -0.806         0              90             0              71
  44  StoveBurner     1.845          0.940          -0.355         0              0              0
  45  StoveBurner     1.567          0.940          -0.757         0              0              0
  46  Cabinet         -1.149         2.019          -1.979         0              90             0
  47  Cabinet         -1.149         2.265          -0.834         0              90             0
  48  Cabinet         -0.459         2.265          -2.0           0              0              0
  49  Cabinet         -1.100         2.019          -2.0           0              0              0
  50  Cabinet         1.719          2.019          -2.0           0              0              0
  51  Cabinet         1.179          2.019          -2.0           0              0              0
  52  Cabinet         0.199          2.019          -2.0           0              0              0
  53  Cabinet         1.75           2.019          -1.399         0              270            0
  54  Cabinet         1.75           2.019          -1.029         0              270            0
  55  Cabinet         1.379          0.469          -1.689         0              0              0
  56  Cabinet         -0.819         0.469          -1.689         0              0              0
  57  Cabinet         1.389          0.469          -1.059         0              270            0
  58  Cabinet         -0.839         0.469          -1.665         0              90             0
  59  StoveBurner     1.567          0.940          -0.355         0              0              0
  60  StoveBurner     1.845          0.940          -0.757         0              0              0
  61  Sink            -0.109         0.893          -2.009         0              0              0
  62  Drawer          -0.819         0.75           -1.690         0              0              0
  63  CounterTop      0.232          0.949          -2.002         0              0              0
  64  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  65  Vase            0.251          0.546          0.475          0              270            0
  66  Toaster         0.780          0.900          -2.080         0              0              0
  67  LightSwitch     0.108          1.315          2.75           0              180            0
  68  Vase            0.400          0.925          0.218          0              180            0
  69  Microwave       -1.233         0.900          -1.680         0              90             0
  70  Vase            1.465          1.662          -2.200         0              0              0
  71  Fridge          -1.495         0.0            -0.703         0              0              0
  72  Window          2.114          1.495          1.072          90             270            0
  73  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  74  Vase            0.333          0.546          1.272          0              270            0
  75  SinkBasin       -0.148         0.753          -2.026         0              0              0
  76  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  80  DiningTable     0.170          0.005          0.678          0              270            0
  81  Shelf           0.170          0.155          0.678          0              270            0
  82  Shelf           1.605          0.172          2.480          0              0              0
  83  Shelf           1.605          0.552          2.480          0              0              0
  84  Shelf           1.604          0.880          2.479          0              0              0
  85  ShelvingUnit    1.605          0.006          2.480          0              0              0
  86  Faucet          -0.143         1.028          -2.223         0              270            0
  87  Stool           -0.553         0.000          0.871          1.233          280.376        0
  88  Shelf           0.170          0.528          0.678          0              270            0
  89
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

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