Task: Place a heated apple 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           -2.75          0.900          -0.5           0              180            0
   1  Pan             0.842          0.950          -1.098         0              0              0              61
   2  Pan             -1.167         0.931          -0.905         0              90             0              67
   3  Potato          0.773          0.941          -1.793         0              0              0              73
   4  Potato          -1.054         0.207          0.576          0              180            0              87
   5  CreditCard      0.753          0.150          -0.729         0              270            0              70
   6  CreditCard      -1.355         0.930          -0.643         0              0              0              67
   7  CellPhone       0.688          0.908          -0.034         0              0              0              68
   8  CellPhone       -1.467         0.550          2.615          0              0              0              93
   9  DishSponge      -1.104         0.933          0.144          0              0              0              67
  10  DishSponge      0.875          0.494          -0.607         0              270            0              71
  11  Glassbottle     0.944          0.912          -1.793         0              0              0              73
  12  Glassbottle     0.944          0.912          -0.034         0              0              0              68
  13  Fork            0.875          0.703          -0.772         0              0              0              65
  14  Fork            0.874          0.154          -0.571         0              0              0              70
  15  Spoon           0.859          0.912          -0.729         0              0              0              68
  16  Spatula         0.915          0.509          -0.524         0              0              0              71
  17  Knife           0.859          0.934          -0.381         0              0              0              68
  18  Knife           -0.624         0.957          0.009          0              180            0              67
  19  Egg             -0.587         0.818          -0.659         0              90             0              88
  20  Egg             -0.587         0.818          -0.832         0              90             0              88
  21  Cup             0.783          0.860          1.063          0              270            0              90
  22  Cup             1.060          1.780          -1.288         0              270            0              89
  23  Tomato          0.844          1.175          1.444          0              270            0              90
  24  SoapBottle      -1.167         0.933          -0.118         0              0              0              67
  25  Bowl            0.944          0.914          0.139          0              0              0              68
  26  Bowl            1.029          0.914          -0.381         0              0              0              68
  27  Lettuce         0.966          1.479          1.158          0              270            0              90
  28  Mug             0.905          0.858          1.349          0              270            0              90
  29  Mug             0.903          0.942          -2.110         0              300.131        0              86
  30  Apple           -0.960         0.229          0.543          0              180            0              87
  31  Apple           -0.808         0.830          -0.400         0              90             0              88
  32  Apple           0.905          1.452          1.444          0              270            0              90
  33  Statue          -0.772         0.936          -1.540         0              0              0              67
  34  Glassbottle     1.148          1.667          -0.401         0              270            0              76
  35  Bread           -0.779         0.996          0.209          0              258.641        0              67
  36  CreditCard      0.754          0.492          -0.565         0              270            0              71
  37  CellPhone       0.859          0.908          -0.555         0              0              0              68
  38  Potato          -0.587         0.811          -0.486         0              90             0              88
  39  Knife           -0.772         0.957          -0.143         0              0              0              67
  40  Fork            1.029          0.911          -0.208         0              90             0              68
  41  Pan             1.148          1.664          -2.166         0              180            0              66
  42  Lettuce         1.114          0.988          0.139          0              0              0              68
  43  Plate           1.126          2.211          -1.082         0              270            0              74
  44  Apple           -0.865         0.229          0.510          0              180            0              87
  45  Pot             1.077          0.950          -1.504         0              0              0              63
  46  Spatula         0.915          0.717          -0.565         0              0              0              65
  47  PaperTowelRoll  -0.818         0.283          0.608          0              270            0              87
  48  Tomato          0.688          0.952          -1.965         0              0              0              73
  49  Egg             -0.808         0.818          -0.832         0              90             0              88
  50  SaltShaker      0.773          0.907          -1.879         0              0              0              73
  51  PepperShaker    -1.570         0.550          2.770          0              0              0              93
  52  Vase            1.199          0.911          -0.208         0              0              0              68
  53  ButterKnife     -0.698         0.933          -1.154         0              0              0              67
  54  SoapBottle      0.862          0.121          0.349          0              270            0              62
  55  Vase            1.114          0.912          -0.729         0              0              0              68
  56  Bowl            0.811          0.111          -1.892         0              0              0              72
  57  DishSponge      1.126          2.207          -1.517         0              270            0              74
  58  Spoon           -1.041         0.934          -0.380         0              90             0              67
  59  Cup             -1.571         0.879          2.665          0              0              0              94
  60  Mug             -0.753         0.775          -0.659         0              90             0              88
  61  StoveBurner     0.842          0.919          -1.098         0              0              0
  62  Cabinet         0.648          0.474          0.244          0              270            0
  63  StoveBurner     1.077          0.919          -1.504         0              0              0
  64  StoveBurner     0.842          0.919          -1.504         0              0              0
  65  Drawer          0.637          0.755          -0.649         0              270            0
  66  Cabinet         0.949          2.159          -2.375         0              270            0
  67  CounterTop      -1.238         0.968          -0.643         0              0              0
  68  CounterTop      0.931          0.946          -0.208         0              0              0
  69  StoveBurner     1.077          0.919          -1.098         0              0              0
  70  Drawer          0.637          0.268          -0.649         0              270            0
  71  Drawer          0.637          0.547          -0.649         0              270            0
  72  Cabinet         0.648          0.475          -1.714         0              0              0
  73  CounterTop      0.931          0.946          -2.051         0              0              0
  74  Cabinet         0.948          2.439          -1.780         0              270            0
  75  Cabinet         0.948          2.159          -0.140         0              270            0
  76  Cabinet         0.949          2.159          -0.758         0              270            0
  77  Sink            -0.699         0.927          -0.649         0              0              0
  78  LightSwitch     -2.371         1.218          3.049          0              180            0
  79  StoveKnob       0.673          0.899          -1.373         315            90             180
  80  StoveKnob       0.673          0.899          -1.519         315            90             180
  81  StoveKnob       0.673          0.899          -1.086         315            90             180
  82  StoveKnob       0.673          0.899          -1.237         315            90             180
  83  Toaster         0.984          0.900          0.329          0              270            0
  84  Window          0.014          0.998          -2.640         90             0              0
  85  Window          -2.996         0.998          -2.640         90             0              0
  86  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  87  GarbageCan      -0.946         -0.036         0.575          0              180            0
  88  SinkBasin       -0.698         0.765          -0.647         0              90             0
  89  Microwave       1.042          1.680          -1.295         0              270            0
  90  Fridge          0.966          0.0            1.253          0              0              0
  91  HousePlant      -1.354         0.919          -1.540         0              0              0
  92  Shelf           -1.635         0.172          2.715          0              180            0
  93  Shelf           -1.635         0.552          2.715          0              180            0
  94  Shelf           -1.635         0.880          2.715          0              180            0
  95  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  96  Chair           -1.832         0.002          -0.034         0              119.999        0
  97  Chair           -1.854         0.002          -0.956         0              67.887         0
  98  Faucet          -0.867         1.161          -0.651         0              0              0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn around and move towards the door next to the shelves. Turn right and move towards the refrigerator and turn right once past the black rubbish bin. Move to the sink and turn right to face the sink. | STEP 2: Pick up the green apple in the corner of the sink to the right of the mug. | STEP 3: Turn left and move to the oven and then turn left to face the microwave above the oven. | STEP 4: Place the green apple on the plate in the microwave, microwave the green apple, then open the microwave and pick up the green apple. | STEP 5: Turn left and move to the sink in the kitchen island. | STEP 6: Place the green apple in the sink between the two onions in front of the drain. | END