Task: To heat a piece of an apple and put 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           0.25           0.900          2.25           0              90             0
   1  Pan             1.807          0.909          -0.320         0              180            0              46
   2  Potato          -0.692         1.429          -1.629         0              0              0              71
   3  Potato          -0.256         1.099          -1.382         0              0              0              71
   4  Ladle           1.808          1.683          0.375          0              0              0              53
   5  ButterKnife     1.012          0.911          -1.282         0              180            0              48
   6  DishSponge      1.775          2.135          1.236          0              0              0              51
   7  Spatula         1.865          0.926          -1.374         0              0              0              48
   8  Egg             1.308          0.795          -1.654         0              0              0              63
   9  Cup             1.757          0.908          0.915          0              90             0              44
  10  Plate           1.805          1.655          -0.449         0              0              0              55
  11  Plate           1.757          0.912          1.180          0              90             0              44
  12  Knife           1.097          0.943          -1.299         0              180            0              48
  13  Knife           0.476          0.943          1.092          0              90             0              44
  14  SoapBottle      1.917          0.908          0.570          0              90             0              44
  15  SoapBottle      1.800          0.068          1.636          0              270            0              62
  16  SaltShaker      0.988          0.905          1.269          0              90             0              44
  17  SaltShaker      1.762          0.905          0.467          0              270            0              44
  18  PepperShaker    1.841          1.630          -1.501         0              0              0              57
  19  PepperShaker    1.269          0.906          -1.247         0              90             0              48
  20  Bread           0.476          0.987          1.269          0              90             0              44
  21  Bread           0.732          0.987          0.739          0              90             0              44
  22  Plate           1.802          1.647          -0.000         0              0              0              54
  23  SoapBottle      1.841          1.633          -1.338         0              0              0              57
  24  Cup             -0.644         1.681          -1.664         0              0              0              71
  25  Egg             1.77           0.105          1.540          0              270            0              62
  26  Fork            0.220          0.911          1.269          0              0              0              44
  27  Ladle           1.201          0.926          0.743          3.402          0              346.985        44
  28  Apple           1.245          0.967          1.004          0              90             0              44
  29  SaltShaker      1.840          1.628          -0.828         0              0              0              56
  30  Pan             1.543          0.909          -0.320         0              90             0              47
  31  Tomato          1.501          0.974          1.004          0              90             0              44
  32  Spatula         1.607          0.925          0.363          0              180            0              44
  33  Potato          1.451          0.950          0.415          0              90             0              44
  34  Knife           1.140          0.760          -1.584         271.503        77.663         282.515        63
  35  ButterKnife     1.529          0.910          0.415          0              90             0              44
  36  Bread           1.726          0.988          -1.631         0              90             0              48
  37  Lettuce         -0.692         0.850          -1.594         0              0              0              71
  38  PepperShaker    1.734          1.630          -1.297         0              0              0              57
  39  Pot             1.534          0.908          0.058          0              195.000        0              50
  40  DishSponge      1.032          0.760          -1.710         0              0              0              63
  41  Spoon           1.865          0.912          -1.545         0              90             0              48
  42  Bowl            1.805          1.631          -1.046         0              0              0              56
  43  Mug             1.656          0.906          -1.802         0              90             0              48
  44  CounterTop      0.989          0.946          1.016          0              90             0
  45  StoveBurner     1.807          0.907          0.075          0              180            0
  46  StoveBurner     1.807          0.907          -0.320         0              180            0
  47  StoveBurner     1.543          0.907          -0.320         0              90             0
  48  CounterTop      0.989          0.946          -1.516         0              90             0
  49  Sink            1.100          0.906          -1.599         0              0              0
  50  StoveBurner     1.548          0.907          0.075          0              180            0
  51  Cabinet         1.658          2.299          1.313          0              0              0
  52  Cabinet         1.658          2.299          0.686          0              0              0
  53  Cabinet         1.658          2.049          0.673          0              0              0
  54  Cabinet         1.658          2.059          0.193          0              0              0
  55  Cabinet         1.658          2.059          -0.593         0              0              0
  56  Cabinet         1.658          2.049          -0.606         0              0              0
  57  Cabinet         1.658          2.049          -1.206         0              0              0
  58  Cabinet         1.658          2.049          -1.893         0              0              0
  59  Toaster         0.131          0.900          -1.589         0              0              0
  60  Window          -0.372         1.588          3.349          90             0              0
  61  Window          0.782          1.741          -1.893         90             0              0
  62  GarbageCan      1.770          -0.029         1.685          0              270            0
  63  SinkBasin       1.091          0.740          -1.599         0              0              0
  64  StoveKnob       1.364          0.821          0.086          48.421         270            0
  65  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  66  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  67  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  68  Microwave       1.752          0.900          -0.843         0              270            0
  69  LightSwitch     2.0            1.261          3.094          0              270            0
  70  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  71  Fridge          -0.533         0.0            -1.554         0              0              0
  72  Chair           1.068          0.000          1.752          0              191.622        0
  73  Faucet          1.110          1.138          -1.764         0              270            0
  74  Chair           0.357          0.000          1.710          0              178.899        0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: turn and walk over to the sink.  | STEP 2: Pick up the sharp knife that's in front of the sink.  | STEP 3: Turn around and walk to the counter straight ahead.  | STEP 4: Slice the apple that's behind the ladle on the counter.  | STEP 5: Put the knife down on the counter next to the ladle.  | STEP 6: Pick up a piece of apple from the counter.  | STEP 7: Turn and walk to the microwave to the right of the stove.  | STEP 8: Put the piece of apple inside the microwave, close the door, heat the piece of apple, open the door, take the piece of apple out, and close the door.  | STEP 9: Turn right to face the sink.  | STEP 10: Put the piece of apple inside the sink to the left of the sponge.  | END