Task: Put a heated apple piece 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           -2.0           0.900          2.0            0              0              0
   1  CreditCard      0.944          0.908          -1.879         0              0              0              70
   2  CreditCard      0.753          0.150          -0.571         0              270            0              67
   3  CellPhone       0.834          0.699          -0.648         0              270            0              62
   4  DishSponge      0.688          0.910          -0.381         0              0              0              65
   5  ButterKnife     0.944          0.911          -0.729         0              0              0              65
   6  ButterKnife     -1.292         0.933          -0.380         0              0              0              64
   7  Spatula         -0.550         0.948          -1.618         0              0              0              64
   8  Knife           1.114          0.934          -0.034         0              0              0              65
   9  Knife           -0.624         0.957          0.009          0              180            0              64
  10  Egg             1.060          1.833          -1.339         0              270            0              86
  11  Egg             1.087          1.439          1.158          0              270            0              87
  12  Cup             1.060          1.792          -1.132         0              270            0              86
  13  Cup             1.014          0.118          0.398          0              270            0              59
  14  Plate           0.859          0.914          -0.381         0              0              0              65
  15  Plate           1.082          2.211          -0.973         0              270            0              71
  16  Tomato          -0.846         0.974          -1.308         0              0              0              64
  17  Tomato          -1.104         0.974          -0.118         0              0              0              64
  18  SoapBottle      0.910          0.108          -2.292         0              0              0              69
  19  SoapBottle      0.773          0.911          -0.034         0              0              0              65
  20  Bowl            0.905          1.138          0.967          0              270            0              87
  21  Bowl            0.844          1.646          1.349          0              270            0              87
  22  SaltShaker      1.055          1.662          -1.893         0              270            0              63
  23  SaltShaker      0.954          0.150          -0.690         0              270            0              67
  24  PepperShaker    0.833          0.150          -0.611         0              270            0              67
  25  Lettuce         1.026          0.940          1.349          0              270            0              87
  26  Mug             0.844          1.396          1.254          0              270            0              87
  27  Apple           -1.007         0.227          0.608          0              180            0              84
  28  Apple           0.965          1.693          1.540          0              270            0              87
  29  Apple           0.688          0.961          -2.308         0              0              0              70
  30  Statue          -1.816         0.871          2.754          0              180            0              64
  31  Glassbottle     1.194          1.667          -0.593         0              270            0              73
  32  Bread           -0.779         0.996          0.209          0              258.641        0              64
  33  CreditCard      -1.674         0.878          2.773          0              0              0              91
  34  CellPhone       -0.624         0.930          -1.463         0              0              0              64
  35  Potato          -0.912         0.207          0.543          0              180            0              84
  36  Knife           1.114          0.934          -0.381         0              0              0              65
  37  Fork            -0.624         0.934          -1.231         0              180            0              64
  38  Pan             0.848          0.946          -1.080         0              0              0              58
  39  Lettuce         0.688          0.988          -0.729         0              0              0              65
  40  Plate           1.193          1.669          0.153          0              270            0              72
  41  Apple           -0.753         0.826          -0.745         0              90             0              85
  42  Pot             1.077          0.950          -1.504         0              0              0              60
  43  Spatula         -0.697         0.795          -0.573         0              270            0              85
  44  PaperTowelRoll  -0.865         0.281          0.641          0              180            0              84
  45  Tomato          0.905          1.442          1.540          0              270            0              87
  46  Egg             0.966          1.439          0.967          0              270            0              87
  47  SaltShaker      -1.467         0.550          2.874          0              0              0              90
  48  PepperShaker    -0.477         0.929          0.162          0              0              0              64
  49  Vase            -1.423         0.169          2.621          0              0              0              90
  50  ButterKnife     0.773          0.911          -1.879         0              0              0              70
  51  SoapBottle      -0.698         0.933          -1.231         0              0              0              64
  52  Vase            -1.167         0.934          0.144          0              0              0              64
  53  Bowl            1.101          1.669          -2.029         0              270            0              63
  54  DishSponge      0.833          0.153          -0.729         0              270            0              67
  55  Spoon           -0.772         0.934          -1.154         0              0              0              85
  56  Cup             -1.355         0.930          -0.905         0              0              0              64
  57  Mug             1.082          2.203          -1.517         0              270            0              71
  58  StoveBurner     0.842          0.919          -1.098         0              0              0
  59  Cabinet         0.648          0.474          0.244          0              270            0
  60  StoveBurner     1.077          0.919          -1.504         0              0              0
  61  StoveBurner     0.842          0.919          -1.504         0              0              0
  62  Drawer          0.637          0.755          -0.649         0              270            0
  63  Cabinet         0.949          2.159          -2.375         0              270            0
  64  CounterTop      -1.238         0.968          -0.643         0              0              0
  65  CounterTop      0.931          0.946          -0.208         0              0              0
  66  StoveBurner     1.077          0.919          -1.098         0              0              0
  67  Drawer          0.637          0.268          -0.649         0              270            0
  68  Drawer          0.637          0.547          -0.649         0              270            0
  69  Cabinet         0.648          0.475          -1.714         0              0              0
  70  CounterTop      0.931          0.946          -2.051         0              0              0
  71  Cabinet         0.948          2.439          -1.780         0              270            0
  72  Cabinet         0.948          2.159          -0.140         0              270            0
  73  Cabinet         0.949          2.159          -0.758         0              270            0
  74  Sink            -0.699         0.927          -0.649         0              0              0
  75  LightSwitch     -2.371         1.218          3.049          0              180            0
  76  StoveKnob       0.673          0.899          -1.373         315            90             180
  77  StoveKnob       0.673          0.899          -1.519         315            90             180
  78  StoveKnob       0.673          0.899          -1.086         315            90             180
  79  StoveKnob       0.673          0.899          -1.237         315            90             180
  80  Toaster         0.984          0.900          0.329          0              270            0
  81  Window          0.014          0.998          -2.640         90             0              0
  82  Window          -2.996         0.998          -2.640         90             0              0
  83  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  84  GarbageCan      -0.946         -0.036         0.575          0              180            0
  85  SinkBasin       -0.698         0.765          -0.647         0              90             0
  86  Microwave       1.042          1.680          -1.295         0              270            0
  87  Fridge          0.966          0.0            1.253          0              0              0
  88  HousePlant      -1.354         0.919          -1.540         0              0              0
  89  Shelf           -1.635         0.172          2.715          0              180            0
  90  Shelf           -1.635         0.552          2.715          0              180            0
  91  Shelf           -1.635         0.880          2.715          0              180            0
  92  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  93  Chair           -1.832         0.002          -0.034         0              119.999        0
  94  Chair           -1.854         0.002          -0.956         0              67.887         0
  95  Faucet          -0.867         1.161          -0.651         0              0              0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn around and go to the counter on the right of the stove. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn around and go to the front of the sink on the right. | STEP 4: Cut the green apple inside the sink | STEP 5: Place the gray knife inside the sink. | STEP 6: Pick up one piece of the apple out from the sink.  | STEP 7: Turn around and go to the microwave above the stove.  | STEP 8: Heat the cut apple in front of the green cup in the microwave and take it out.  | STEP 9: Turn around and go to the left side of the kitchen island.  | STEP 10: Place the heated apple on the counter towards the edge.  | END