Task: To heat a piece of apple and place it to the right of 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          1.25           0              90             0
   1  Pan             -3.000         1.133          0.480          0              270            0              53
   2  Ladle           -0.715         1.164          0.478          0              0              0              60
   3  Pot             -3.475         1.133          0.227          0              90             0              44
   4  Pot             -1.199         0.935          0.428          0              0              0              70
   5  Fork            -0.662         1.047          2.144          0              0              0              48
   6  Spoon           -1.465         0.932          0.359          0              0              0              70
   7  Spoon           -0.908         1.048          3.042          0              0              0              48
   8  Egg             -3.747         0.142          2.038          0              0              0              69
   9  Cup             -1.568         1.152          0.095          0              0              0              45
  10  Cup             -3.440         1.560          2.778          0              90             0              65
  11  Plate           -1.156         0.047          0.437          0              0              0              52
  12  Knife           -1.642         0.963          0.290          0              90             0              70
  13  SoapBottle      -1.483         0.049          0.551          0              0              0              63
  14  SoapBottle      -1.235         0.049          0.608          0              0              0              52
  15  PepperShaker    -1.601         0.045          0.551          0              0              0              63
  16  Lettuce         -2.514         1.202          0.473          0              0              0              58
  17  Mug             -0.785         1.042          2.593          0              0              0              48
  18  Mug             -0.662         1.042          3.042          0              0              0              48
  19  Apple           -3.639         1.629          2.849          0              90             0              65
  20  Apple           -1.642         0.998          0.636          0              0              0              70
  21  Fork            -2.137         1.125          0.379          0              90             0              58
  22  SoapBottle      -0.415         1.048          2.369          0              0              0              48
  23  Pot             -0.785         1.051          1.920          0              0              0              48
  24  Ladle           -0.538         1.086          2.817          0              0              0              48
  25  Potato          -2.514         1.155          0.095          0              0              0              58
  26  Plate           -3.44          1.285          3.061          0              90             0              65
  27  Bread           -0.662         1.134          3.266          0              0              0              48
  28  Lettuce         -0.908         1.124          3.266          0              0              0              48
  29  Spatula         -0.415         1.062          2.144          0              180            0              48
  30  Pan             -0.266         1.038          2.561          0              0              0              48
  31  Egg             -0.939         1.155          0.659          0              0              0              60
  32  Cup             -3.248         0.726          2.991          0              90             0              65
  33  SaltShaker      -0.908         1.044          2.817          0              0              0              48
  34  Knife           -0.538         1.079          3.042          0              0              0              48
  35  Bowl            -2.011         1.122          0.379          0              0              0              58
  36  PepperShaker    -2.416         0.898          0.645          0              0              0              57
  37  ButterKnife     -0.415         1.048          1.920          0              0              0              48
  38  Apple           -2.514         1.192          0.284          0              0              0              58
  39  Tomato          -0.785         1.088          2.817          0              0              0              48
  40  DishSponge      -1.465         0.931          0.428          0              0              0              70
  41  Spoon           -1.553         0.932          0.498          0              0              0              70
  42  Mug             -1.483         0.044          0.381          0              0              0              63
  43  StoveKnob       -3.322         1.053          0.709          45             0              0
  44  StoveBurner     -3.474         1.097          0.227          0              180            0
  45  Sink            -1.394         0.982          0.439          0              0              0
  46  StoveBurner     -3.474         1.097          0.479          0              180            0
  47  StoveKnob       -3.164         1.053          0.709          45             0              0
  48  DiningTable     -0.620         0.017          2.486          0              0              0
  49  Drawer          -2.043         0.608          0.594          0              0              0
  50  Drawer          -2.043         0.216          0.594          0              0              0
  51  Drawer          -2.498         0.216          0.594          0              0              0
  52  Cabinet         -1.001         0.393          0.734          0              0              0
  53  StoveBurner     -3.000         1.097          0.480          0              0              0
  54  StoveKnob       -3.492         1.053          0.709          45             0              0
  55  CounterTop      -3.856         1.160          0.379          0              0              0
  56  Drawer          -2.043         0.937          0.599          0              0              0
  57  Drawer          -2.509         0.937          0.599          0              0              0
  58  CounterTop      -2.280         1.160          0.379          0              0              0
  59  StoveKnob       -2.985         1.053          0.709          45             0              0
  60  CounterTop      -0.514         1.160          0.492          0              0              0
  61  Drawer          -2.498         0.608          0.594          0              0              0
  62  StoveBurner     -3.000         1.097          0.227          0              0              0
  63  Cabinet         -1.733         0.393          0.734          0              0              0
  64  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  65  Fridge          -3.519         0.0            2.717          0              90             0
  66  Window          -1.394         1.924          0.014          90             0              0
  67  Window          -3.266         1.924          0.014          90             0              0
  68  Toaster         -0.225         1.038          2.865          0              270            0
  69  GarbageCan      -3.696         0.002          2.008          0              0              0
  70  SinkBasin       -1.389         0.921          0.428          0              0              0
  71  Microwave       -0.366         1.113          0.430          0              0              0
  72  HousePlant      -2.155         1.101          0.169          0              332.897        0
  73  LightSwitch     -2.584         1.299          3.5            0              180            0
  74  Faucet          -1.393         1.373          0.168          0              270            0
  75  NorthWall
  76  SouthWall
  77  SouthWall

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