Task: Heat up a slice of apple in the microwave to put 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          0.900          0.25           0              0              0
   1  Kettle          0.759          2.154          1.429          0              0              0              57
   2  ButterKnife     0.888          0.911          -0.684         0              0              0              48
   3  ButterKnife     2.221          0.911          1.468          0              0              0              83
   4  Spoon           -0.694         0.822          -1.206         0              90             0              107
   5  Spoon           0.888          0.912          -0.769         0              0              0              48
   6  Spatula         -0.007         0.926          1.299          0              270            0              59
   7  Spatula         -0.983         0.835          -1.308         0              90             0              107
   8  Plate           1.955          0.914          1.383          0              0              0              83
   9  Plate           2.754          0.914          1.214          0              0              0              83
  10  Cup             2.715          0.723          -0.504         0              0              0              103
  11  Cup             -0.055         0.909          1.044          0              0              0              59
  12  Knife           0.634          0.944          -0.684         0              0              0              48
  13  SoapBottle      1.896          0.120          1.236          0              0              0              68
  14  SoapBottle      -0.694         0.826          -1.360         0              90             0              107
  15  Tomato          2.591          1.320          -0.644         0              0              0              103
  16  Tomato          2.838          0.758          -0.504         0              0              0              103
  17  Bowl            1.141          0.909          -0.6           0              0              0              48
  18  Bowl            1.688          0.909          1.468          0              0              0              83
  19  SaltShaker      -0.240         0.908          -0.330         0              0              0              48
  20  SaltShaker      1.254          1.651          1.429          0              0              0              75
  21  PepperShaker    0.601          2.150          1.545          0              0              0              57
  22  Bread           2.777          1.077          -0.644         0              0              0              103
  23  Lettuce         2.777          1.644          -0.578         0              0              0              103
  24  Mug             0.215          1.650          -0.693         0              180            0              88
  25  SoapBottle      -0.246         0.917          1.044          0              0              0              59
  26  Plate           0.634          0.914          -0.430         0              0              0              48
  27  Fork            0.053          0.766          -0.596         0              0              0              105
  28  Pot             0.297          0.960          1.346          0              0              0              63
  29  Bread           1.155          0.969          1.468          0              0              0              83
  30  Egg             0.123          0.803          -0.707         0              0              0              105
  31  Kettle          0.678          0.964          1.345          0              0              0              86
  32  Tomato          -1.962         0.455          1.375          0              270            0              101
  33  Cup             0.518          1.782          1.520          0              180            0              106
  34  Spatula         -0.734         0.835          -1.473         0              0              0              107
  35  Apple           1.422          0.980          1.129          0              0              0              83
  36  Pan             0.637          0.960          1.090          0              0              0              51
  37  Lettuce         -0.103         0.992          1.299          0              90             0              59
  38  SaltShaker      1.422          0.908          1.468          0              0              0              83
  39  Knife           1.955          0.944          1.044          0              0              0              83
  40  Potato          -0.621         0.855          -1.155         0              90             0              107
  41  PepperShaker    -0.055         0.908          1.468          0              0              0              59
  42  ButterKnife     -0.797         0.810          -1.133         0              150.000        0              107
  43  Bowl            2.221          0.909          1.129          0              0              0              83
  44  DishSponge      -0.294         0.911          1.553          0              0              0              59
  45  Spoon           2.156          0.912          -0.769         0              0              0              48
  46  Mug             1.428          0.965          -0.577         0              0              0              48
  47  Sink            0.050          0.902          -0.648         0              0              0
  48  CounterTop      1.358          0.947          -0.600         0              0              0
  49  Cabinet         2.986          2.009          1.304          0              0              0
  50  Cabinet         1.022          2.009          -0.607         0              180            0
  51  StoveBurner     0.678          0.923          1.082          0              0              0
  52  Cabinet         2.371          0.402          0.995          0              0              0
  53  Drawer          -0.125         0.792          0.995          0              0              0
  54  StoveBurner     0.281          0.923          1.082          0              0              0
  55  Cabinet         1.025          0.402          0.995          0              0              0
  56  Cabinet         1.023          0.402          -0.296         0              180            0
  57  Cabinet         0.974          2.259          1.304          0              0              0
  58  Cabinet         0.979          2.009          -0.607         0              180            0
  59  CounterTop      -0.158         0.947          1.299          0              0              0
  60  Cabinet         1.725          2.009          1.304          0              0              0
  61  Drawer          2.205          0.792          -0.294         0              180            0
  62  Drawer          1.869          0.792          -0.294         0              180            0
  63  StoveBurner     0.281          0.923          1.347          0              0              0
  64  Drawer          2.512          0.792          0.995          0              0              0
  65  Cabinet         1.673          0.402          -0.296         0              180            0
  66  Drawer          1.524          0.792          0.995          0              0              0
  67  Drawer          1.174          0.792          -0.294         0              180            0
  68  Cabinet         1.720          0.402          0.995          0              0              0
  69  Cabinet         2.348          2.009          -0.607         0              180            0
  70  Cabinet         1.676          2.009          -0.607         0              180            0
  71  Cabinet         1.673          2.009          1.304          0              0              0
  72  Cabinet         2.326          2.009          1.304          0              0              0
  73  Cabinet         2.370          2.009          1.304          0              0              0
  74  Cabinet         0.021          2.009          1.304          0              0              0
  75  Cabinet         1.025          2.009          1.304          0              0              0
  76  Cabinet         -0.274         0.402          0.995          0              0              0
  77  Cabinet         1.675          0.402          0.995          0              0              0
  78  Drawer          1.524          0.792          -0.294         0              180            0
  79  Drawer          2.187          0.792          0.995          0              0              0
  80  Cabinet         2.977          0.402          0.995          0              0              0
  81  Drawer          1.862          0.792          0.995          0              0              0
  82  Cabinet         0.072          2.259          1.304          0              0              0
  83  CounterTop      1.917          0.947          1.299          0              0              0
  84  Cabinet         2.328          0.402          0.995          0              0              0
  85  Cabinet         1.723          2.009          -0.607         0              180            0
  86  StoveBurner     0.677          0.923          1.345          0              0              0
  87  Cabinet         0.355          2.009          -0.607         0              180            0
  88  Cabinet         0.332          2.009          -0.607         0              180            0
  89  Cabinet         2.349          0.402          -0.296         0              180            0
  90  Cabinet         -0.284         2.009          -0.607         0              180            0
  91  Faucet          0.061          0.906          -0.903         0              0              0
  92  Drawer          2.837          0.792          0.995          0              0              0
  93  Drawer          1.175          0.792          0.995          0              0              0
  94  Cabinet         1.723          0.402          -0.296         0              180            0
  95  StoveKnob       0.588          1.093          1.557          287.970        0              0
  96  StoveKnob       0.188          1.093          1.557          287.970        0              0
  97  StoveKnob       0.749          1.093          1.557          287.970        0              0
  98  StoveKnob       0.338          1.093          1.557          287.970        0              0
  99  Toaster         1.934          0.900          -0.717         0              0              0
 100  LightSwitch     -1.662         1.427          1.649          0              180            0
 101  GarbageCan      -1.965         -0.029         1.358          0              270            0
 102  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 103  Fridge          3.043          0.0            -0.709         0              0              0
 104  Window          -2.183         1.501          -0.014         90             270            0
 105  SinkBasin       0.043          0.755          -0.651         0              0              0
 106  Microwave       0.531          1.675          1.437          0              180            0
 107  DiningTable     -0.836         8.404          -1.258         0              0              0
 108  Chair           -1.611         0.002          -1.185         0              45             0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop. | STEP 4: Slice the apple on the countertop. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the large knife in the microwave. | STEP 7: Turn right to face the countertop with the apple slices. | STEP 8: Pick up an apple slice from the countertop. | STEP 9: Turn left to walk to the microwave. | STEP 10: Heat up the apple slice in the microwave, removing it afterwards. | STEP 11: Turn around the face the sink. | STEP 12: Put the apple slice in the sink. | END