Task: Put a heated apple slice 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           -2.25          0.899          5.0            0              90             0
   1  Pencil          -3.613         0.923          5.489          0              90             0              76
   2  Pencil          -1.860         0.923          1.724          0              0              0              74
   3  Potato          -0.259         1.614          3.228          0              270            0              109
   4  Potato          -0.104         0.958          4.615          0              0              0              61
   5  DishSponge      -4.057         1.455          1.810          0              45             0              77
   6  ButterKnife     -0.488         0.925          5.603          0              0              0              61
   7  Pot             -2.469         0.930          1.712          0              270            0              91
   8  Fork            -4.517         0.924          3.432          0              90             0              76
   9  Spoon           -1.777         0.924          1.951          0              90             0              58
  10  Spatula         -4.055         0.769          2.768          0              270            0              56
  11  Spatula         -4.451         0.938          2.533          0              90             0              76
  12  Egg             -2.688         1.582          1.698          0              0              0              106
  13  Egg             -4.271         0.826          3.159          0              270            0              108
  14  Plate           -0.342         1.581          3.409          0              270            0              109
  15  Plate           -3.340         0.924          1.875          0              0              0              76
  16  Knife           -1.777         0.953          1.648          0              90             0              58
  17  Knife           -1.610         0.953          1.8            0              90             0              58
  18  SoapBottle      -0.104         0.924          5.273          0              0              0              61
  19  Tomato          -4.121         0.848          3.222          0              270            0              108
  20  Tomato          -1.860         0.980          1.951          0              0              0              58
  21  Bowl            -3.373         1.450          1.638          0              0              0              50
  22  SaltShaker      -0.203         2.132          6.469          0              180            0              60
  23  Apple           -4.121         0.844          3.097          0              270            0              108
  24  Apple           -4.159         0.844          3.410          0              270            0              108
  25  Apple           -3.852         0.976          5.336          0              90             0              76
  26  Egg             -4.271         0.826          3.285          0              270            0              108
  27  Apple           -1.943         0.976          1.648          0              0              0              58
  28  Knife           -0.258         0.954          4.944          0              0              0              61
  29  Potato          -0.411         0.958          4.615          0              0              0              61
  30  Fork            -3.852         0.924          5.259          0              180            0              76
  31  Bowl            -0.259         1.332          3.602          0              270            0              109
  32  Plate           -0.342         1.336          3.231          0              270            0              109
  33  Lettuce         -0.242         1.165          3.355          0              90             0              109
  34  Bread           -0.565         1.004          5.273          0              0              0              61
  35  Tomato          -0.383         1.392          3.850          0              270            0              109
  36  WineBottle      -0.181         0.926          5.932          0              0              0              61
  37  Spatula         -3.613         0.938          5.412          0              90             0              76
  38  PaperTowelRoll  -3.748         0.172          6.416          0              270            0              102
  39  Cup             -3.494         0.922          5.336          0              90             0              76
  40  Pencil          -2.026         0.923          1.951          0              0              0              74
  41  Pan             -2.454         0.933          2.023          0              240.000        0              64
  42  Pot             -2.924         0.930          1.712          0              180            0              73
  43  SaltShaker      -0.334         0.921          4.944          0              0              0              61
  44  SoapBottle      -0.181         0.924          5.603          0              0              0              61
  45  PepperShaker    -3.229         0.741          5.162          0              180            0              88
  46  ButterKnife     -3.859         0.923          1.875          0              0              0              76
  47  DishSponge      -1.782         0.746          1.985          0              0              0              74
  48  Spoon           -0.334         0.926          5.603          0              0              0              61
  49  Mug             -3.807         0.074          5.116          0              90             0              90
  50  Cabinet         -3.203         1.931          1.777          0              0              0
  51  Cabinet         -3.187         0.390          2.089          0              0              0
  52  Cabinet         -0.637         0.387          6.882          0              180            0
  53  Drawer          -3.797         0.781          1.961          0              0              0
  54  Cabinet         -3.036         0.387          5.029          0              90             0
  55  Drawer          -0.509         0.775          5.268          0              270            0
  56  Drawer          -4.125         0.798          2.499          0              0              0
  57  Cabinet         -0.331         2.249          4.308          0              180            0
  58  CounterTop      -1.872         0.958          1.799          0              0              0
  59  StoveBurner     -2.924         0.924          2.012          0              0              0
  60  Cabinet         -0.331         2.249          6.806          0              180            0
  61  CounterTop      -0.345         0.960          5.603          0              0              0
  62  Cabinet         -3.039         1.935          5.321          0              90             0
  63  Cabinet         -3.922         0.397          2.088          0              0              0
  64  StoveBurner     -2.467         0.924          2.012          0              0              0
  65  Cabinet         -0.331         2.249          5.505          0              180            0
  66  Drawer          -0.509         0.775          4.617          0              270            0
  67  Drawer          -3.509         0.777          5.157          0              180            0
  68  Cabinet         -3.961         0.388          2.878          0              0              0
  69  Cabinet         -3.961         0.388          4.342          0              0              0
  70  Cabinet         -0.637         0.387          5.582          0              180            0
  71  Cabinet         -0.637         0.388          4.299          0              180            0
  72  Cabinet         -0.637         0.388          5.599          0              180            0
  73  StoveBurner     -2.924         0.924          1.712          0              180            0
  74  Drawer          -1.859         0.775          1.961          0              0              0
  75  Cabinet         -0.331         2.249          5.609          0              180            0
  76  CounterTop      -4.260         0.958          4.943          0              90             0
  77  Cabinet         -4.284         1.931          2.226          0              0              0
  78  Cabinet         -0.331         2.249          3.010          0              180            0
  79  Drawer          -3.801         0.777          5.157          0              180            0
  80  Cabinet         -4.112         1.935          5.321          0              90             0
  81  Cabinet         -3.968         0.388          3.662          0              0              0
  82  Drawer          -3.418         0.777          1.961          0              0              0
  83  Drawer          -4.090         0.777          4.661          0              90             0
  84  Faucet          -4.441         0.909          3.288          270            0              0
  85  Cabinet         -0.331         2.249          4.207          0              180            0
  86  Cabinet         -3.961         0.388          2.119          0              0              0
  87  Drawer          -0.509         0.775          5.920          0              270            0
  88  Drawer          -3.193         0.777          5.157          0              180            0
  89  Cabinet         -3.968         0.388          2.894          0              0              0
  90  Cabinet         -3.667         0.387          5.029          0              90             0
  91  StoveBurner     -2.469         0.924          1.712          0              270            0
  92  Cabinet         -1.539         0.388          2.090          0              0              0
  93  Sink            -4.190         0.921          3.279          0              0              0
  94  Cabinet         -3.641         0.387          5.029          0              90             0
  95  Cabinet         -1.583         1.931          1.777          0              0              0
  96  Drawer          -0.509         0.775          6.568          0              270            0
  97  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  98  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  99  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 102  GarbageCan      -3.711         -0.030         6.376          0              270            0
 103  Toaster         -3.578         0.912          1.763          0              0              0
 104  Curtains        -4.522         2.252          3.391          90             90             0
 105  Window          -4.868         1.629          3.309          90             270            0
 106  Microwave       -2.693         1.430          1.689          0              0              0
 107  LightSwitch     -1.588         1.169          1.506          0              0              0
 108  SinkBasin       -4.196         0.780          3.276          0              270            0
 109  Fridge          -0.324         -0.001         3.602          0              0              0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Turn right and walk forward, then turn right and walk over to the toaster on the counter. | STEP 2: Pick up the metal knife that is on the counter to the right of the toaster. | STEP 3: Turn around and walk over to the kitchen sink. | STEP 4: Slice up the rightmost tomato that is in the sink basin. | STEP 5: Put the metal knife into the sink basin to the right of the sliced apple. | STEP 6: Pick up an apple slice out of the sink basin. | STEP 7: Turn around and walk forward, then hang a right and walk over to the microwave. | STEP 8: Open the microwave and put the apple slice in to the right of the egg then close the door and turn on the microwave, after a couple seconds take the apple slice out and close the microwave. | STEP 9: Turn left and walk over to the section of counter to the left of the stove. | STEP 10: Put the heated piece of sliced apple on the counter to the left of the spoon. | END