Task: Microwave an apple slice, put it on a counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          1.5            0              90             0
   1  Potato          1.557          0.942          -1.212         0              0              0              63
   2  Potato          -1.495         1.533          -0.910         0              90             0              71
   3  Ladle           0.444          1.703          -2.162         0              0              0              52
   4  DishSponge      1.181          0.118          -2.022         0              0              0              55
   5  WineBottle      1.913          1.659          -1.199         0              270            0              54
   6  Spoon           0.180          0.931          0.534          0              0              0              80
   7  Cup             -0.047         0.930          0.991          0              0              0              80
   8  Cup             1.833          1.657          -1.673         0              270            0              53
   9  Tomato          -1.553         1.235          -1.013         0              90             0              71
  10  Tomato          -1.610         0.911          -1.013         0              90             0              71
  11  SoapBottle      -0.160         0.929          0.991          0              0              0              80
  12  Bowl            -0.047         0.923          0.305          0              0              0              80
  13  Bowl            -0.283         0.761          -1.981         0              0              0              75
  14  Lettuce         -1.438         1.264          -0.495         0              90             0              71
  15  SaltShaker      0.294          0.926          0.534          0              0              0              80
  16  PepperShaker    0.563          1.655          -2.238         0              0              0              52
  17  Bread           0.066          0.972          1.220          0              0              0              80
  18  Mug             1.261          0.951          -1.934         0              0              0              73
  19  Mug             1.947          1.652          -1.479         0              270            0              54
  20  Apple           0.522          0.997          0.762          0              0              0              80
  21  Apple           -0.047         1.001          0.762          0              0              0              80
  22  Potato          0.008          0.793          -1.981         0              0              0              75
  23  Bowl            -0.160         0.927          1.220          0              0              0              80
  24  SoapBottle      0.180          0.925          0.762          0              0              0              80
  25  Fork            -1.109         0.914          -2.224         0              90             0              63
  26  Ladle           1.828          0.957          -1.329         0              0              0              63
  27  Bread           0.399          0.964          0.110          0              0              1.601          80
  28  Lettuce         -1.429         0.925          -0.542         0              315            0              71
  29  WineBottle      -1.394         1.660          -1.917         0              90             0              46
  30  Spatula         0.066          0.945          0.076          0              180            0              80
  31  Plate           0.481          0.923          1.077          0              0              0              80
  32  SaltShaker      1.466          0.909          -1.680         0              0              0              63
  33  Pot             1.567          0.948          -0.757         0              0              0              45
  34  Cup             1.850          0.913          -2.252         0              0              0              63
  35  PepperShaker    0.294          0.926          0.305          0              0              0              80
  36  Pan             1.824          0.945          -0.346         0              0              0              44
  37  ButterKnife     0.002          0.913          -1.701         0              0              0              63
  38  Tomato          0.180          0.978          1.448          0              0              0              80
  39  DishSponge      1.786          0.086          0.083          0              0              0              64
  40  Egg             -1.000         0.967          -2.151         0              0              0              63
  41  Spoon           -0.720         0.914          -2.200         0              0              0              63
  42  Knife           -0.137         0.787          -2.071         0              90             0              75
  43  Mug             1.572          0.115          -1.266         0              270            0              57
  44  StoveBurner     1.845          0.940          -0.355         0              0              0
  45  StoveBurner     1.567          0.940          -0.757         0              0              0
  46  Cabinet         -1.149         2.019          -1.979         0              90             0
  47  Cabinet         -1.149         2.265          -0.834         0              90             0
  48  Cabinet         -0.459         2.265          -2.0           0              0              0
  49  Cabinet         -1.100         2.019          -2.0           0              0              0
  50  Cabinet         1.719          2.019          -2.0           0              0              0
  51  Cabinet         1.179          2.019          -2.0           0              0              0
  52  Cabinet         0.199          2.019          -2.0           0              0              0
  53  Cabinet         1.75           2.019          -1.399         0              270            0
  54  Cabinet         1.75           2.019          -1.029         0              270            0
  55  Cabinet         1.379          0.469          -1.689         0              0              0
  56  Cabinet         -0.819         0.469          -1.689         0              0              0
  57  Cabinet         1.389          0.469          -1.059         0              270            0
  58  Cabinet         -0.839         0.469          -1.665         0              90             0
  59  StoveBurner     1.567          0.940          -0.355         0              0              0
  60  StoveBurner     1.845          0.940          -0.757         0              0              0
  61  Sink            -0.109         0.893          -2.009         0              0              0
  62  Drawer          -0.819         0.75           -1.690         0              0              0
  63  CounterTop      0.232          0.949          -2.002         0              0              0
  64  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  65  Vase            0.251          0.546          0.475          0              270            0
  66  Toaster         0.780          0.900          -2.080         0              0              0
  67  LightSwitch     0.108          1.315          2.75           0              180            0
  68  Vase            0.400          0.925          0.218          0              180            0
  69  Microwave       -1.233         0.900          -1.680         0              90             0
  70  Vase            1.465          1.662          -2.200         0              0              0
  71  Fridge          -1.495         0.0            -0.703         0              0              0
  72  Window          2.114          1.495          1.072          90             270            0
  73  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  74  Vase            0.333          0.546          1.272          0              270            0
  75  SinkBasin       -0.148         0.753          -2.026         0              0              0
  76  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  80  DiningTable     0.170          0.005          0.678          0              270            0
  81  Shelf           0.170          0.155          0.678          0              270            0
  82  Shelf           1.605          0.172          2.480          0              0              0
  83  Shelf           1.605          0.552          2.480          0              0              0
  84  Shelf           1.604          0.880          2.479          0              0              0
  85  ShelvingUnit    1.605          0.006          2.480          0              0              0
  86  Faucet          -0.143         1.028          -2.223         0              270            0
  87  Stool           -0.553         0.000          0.871          1.233          280.376        0
  88  Shelf           0.170          0.528          0.678          0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn right, turn left, walk straight, turn left to the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Walk straight, turn left, walk straight, turn left to the counter. | STEP 4: Slice the apple on the counter. | STEP 5: Turn left. Walk straight, turn left to the green bin. | STEP 6: Put the knife in the bin. | STEP 7: Turn left, walk straight, turn left to the counter. | STEP 8: Pick up a slice of the apple. | STEP 9: Turn left, walk straight, turn right to the microwave. | STEP 10: Open the microwave, put the apple inside, close the microwave. Turn on the microwave. Open the microwave. | STEP 11: Turn right, turn left, turn right, walk straight, turn left, turn right, walk straight, turn right to the counter. | STEP 12: Put the slice on the counter. | END