Task: To heat a piece of 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           0.25           0.930          -0.5           0              180            0
   1  Potato          0.887          0.949          0.326          0              0              0              92
   2  Ladle           1.491          0.945          0.180          0              0              0              92
   3  Ladle           3.373          0.937          0.232          0              90             0              60
   4  DishSponge      -0.786         0.325          1.255          0              0              0              96
   5  ButterKnife     -1.008         0.900          0.176          0              0              0              61
   6  ButterKnife     0.436          0.908          0.223          0              36.810         0              92
   7  Kettle          0.836          0.909          0.038          0              0              0              92
   8  Kettle          -0.420         0.902          -0.920         0              135            0              56
   9  Spatula         -0.950         0.533          -0.361         0              90             0              88
  10  CellPhone       -0.909         0.128          1.430          0              0              0              85
  11  CellPhone       0.179          0.897          -1.445         0              0              0              82
  12  Apple           -0.803         0.974          -0.827         0              45             0              61
  13  SaltShaker      0.952          1.671          -1.689         0              0              0              76
  14  PepperShaker    0.330          0.317          -1.475         0              0              0              67
  15  PepperShaker    3.028          0.172          -0.702         0              0              0              73
  16  Bowl            1.255          1.671          -1.550         0              0              0              52
  17  SoapBottle      0.101          0.909          -1.731         0              0              0              82
  18  Egg             1.164          0.763          -1.433         0              0              0              107
  19  Egg             0.710          0.963          0.727          0              0              0              92
  20  Plate           3.084          0.190          0.700          0              0              0              70
  21  Knife           -1.008         0.925          -0.047         0              0              0              61
  22  Plate           3.141          0.188          -0.404         0              0              0              72
  23  Glassbottle     -0.136         0.901          -1.393         0              45             0              82
  24  SoapBottle      2.976          1.473          -1.746         0              0              0              59
  25  Potato          1.086          0.749          -1.354         0              0              0              107
  26  Fork            0.022          0.900          -1.660         0              270            0              82
  27  Ladle           3.044          0.937          -0.698         0              0              0              60
  28  Pot             0.423          0.900          0.869          0              0              0              92
  29  Kettle          -1.008         0.901          0.623          0              0              0              61
  30  Spatula         3.152          0.762          -0.100         0              0              0              106
  31  Knife           0.664          0.936          0.296          0              36.810         0              92
  32  Lettuce         -0.702         0.965          -0.726         0              45             0              61
  33  Cup             0.929          0.711          -1.433         0              0              0              107
  34  SaltShaker      3.070          0.709          -0.408         0              180            0              57
  35  Egg             1.086          0.938          -1.503         0              0              0              107
  36  PepperShaker    -0.827         0.702          -0.011         0              0              0              68
  37  ButterKnife     0.728          0.908          0.613          0              36.810         0              92
  38  Apple           -0.043         0.974          -1.486         0              45             0              82
  39  Pan             0.341          0.873          -1.649         0              167.065        0              82
  40  Bread           1.491          0.986          0.747          0              0              0              92
  41  CellPhone       -1.039         0.897          -0.797         0              45             0              61
  42  DishSponge      -0.868         0.130          1.693          0              0              0              85
  43  Tomato          1.064          0.947          0.483          0              36.810         0              92
  44  Spoon           3.111          0.748          0.032          0              0              0              106
  45  Bowl            0.760          1.671          -1.410         0              0              0              76
  46  Mug             1.008          1.068          -1.503         0              0              0              107
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

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