Task: Heat up a slice of apple in the microwave to put 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           -1.0           0.900          0.75           0              0              0
   1  Potato          0.053          0.800          -0.541         0              0              0              102
   2  Potato          2.838          1.598          -0.447         0              0              0              100
   3  DishSponge      -0.983         0.820          -1.308         0              90             0              104
   4  DishSponge      -0.734         0.820          -1.473         0              0              0              104
   5  Kettle          1.524          1.655          1.508          0              0              0              68
   6  ButterKnife     1.155          0.911          1.044          0              0              0              80
   7  ButterKnife     0.888          0.911          -0.769         0              0              0              45
   8  Pot             0.281          0.964          1.347          0              0              0              60
   9  Spatula         1.155          0.926          1.553          0              270            0              80
  10  Spatula         0.152          0.926          -0.330         0              0              0              45
  11  Knife           0.053          0.798          -0.651         0              180            0              102
  12  Knife           1.688          0.944          1.299          0              0              0              80
  13  SoapBottle      -0.198         0.917          1.468          0              0              0              56
  14  Tomato          3.220          0.871          -0.543         0              0              0              100
  15  SaltShaker      2.583          0.111          1.196          0              0              0              49
  16  SaltShaker      1.525          0.110          1.268          0              0              0              74
  17  Bread           1.955          0.969          1.129          0              0              0              80
  18  Lettuce         2.754          0.992          1.214          0              0              0              80
  19  Lettuce         -0.198         0.992          1.214          0              0              0              56
  20  Mug             -0.621         0.815          -1.308         0              90             0              104
  21  Apple           1.395          0.980          -0.345         0              0              0              45
  22  SoapBottle      -1.991         0.429          1.375          0              270            0              98
  23  Plate           2.777          1.291          -0.644         0              0              0              100
  24  Fork            2.092          0.771          1.122          0              90             0              76
  25  Pot             0.281          0.964          1.082          0              0              0              51
  26  Bread           2.221          0.969          1.468          0              0              0              80
  27  Egg             -0.990         0.858          -1.183         0              0              0              104
  28  Kettle          0.710          0.9            -0.772         0              0              0              45
  29  Tomato          -0.839         0.852          -1.257         0              90             0              104
  30  Cup             -0.072         1.652          -0.811         0              180            0              87
  31  Spatula         2.221          0.926          1.129          0              0              0              80
  32  Apple           0.634          0.980          -0.6           0              0              0              45
  33  Pan             0.637          0.960          1.090          0              0              0              48
  34  Lettuce         2.777          1.644          -0.644         0              0              0              100
  35  SaltShaker      2.488          0.908          1.468          0              0              0              80
  36  Knife           0.888          0.944          -0.6           0              0              0              45
  37  Potato          2.715          0.760          -0.535         0              0              0              100
  38  PepperShaker    2.872          1.650          1.585          0              0              0              70
  39  ButterKnife     2.488          0.911          1.214          0              0              0              80
  40  Bowl            2.487          1.653          1.429          0              0              0              70
  41  DishSponge      1.955          0.911          1.383          0              0              0              80
  42  Spoon           1.836          0.772          -0.460         0              180            0              59
  43  Mug             0.415          1.779          1.423          0              180            0              103
  44  Sink            0.050          0.902          -0.648         0              0              0
  45  CounterTop      1.358          0.947          -0.600         0              0              0
  46  Cabinet         2.986          2.009          1.304          0              0              0
  47  Cabinet         1.022          2.009          -0.607         0              180            0
  48  StoveBurner     0.678          0.923          1.082          0              0              0
  49  Cabinet         2.371          0.402          0.995          0              0              0
  50  Drawer          -0.125         0.792          0.995          0              0              0
  51  StoveBurner     0.281          0.923          1.082          0              0              0
  52  Cabinet         1.025          0.402          0.995          0              0              0
  53  Cabinet         1.023          0.402          -0.296         0              180            0
  54  Cabinet         0.974          2.259          1.304          0              0              0
  55  Cabinet         0.979          2.009          -0.607         0              180            0
  56  CounterTop      -0.158         0.947          1.299          0              0              0
  57  Cabinet         1.725          2.009          1.304          0              0              0
  58  Drawer          2.205          0.792          -0.294         0              180            0
  59  Drawer          1.869          0.792          -0.294         0              180            0
  60  StoveBurner     0.281          0.923          1.347          0              0              0
  61  Drawer          2.512          0.792          0.995          0              0              0
  62  Cabinet         1.673          0.402          -0.296         0              180            0
  63  Drawer          1.524          0.792          0.995          0              0              0
  64  Drawer          1.174          0.792          -0.294         0              180            0
  65  Cabinet         1.720          0.402          0.995          0              0              0
  66  Cabinet         2.348          2.009          -0.607         0              180            0
  67  Cabinet         1.676          2.009          -0.607         0              180            0
  68  Cabinet         1.673          2.009          1.304          0              0              0
  69  Cabinet         2.326          2.009          1.304          0              0              0
  70  Cabinet         2.370          2.009          1.304          0              0              0
  71  Cabinet         0.021          2.009          1.304          0              0              0
  72  Cabinet         1.025          2.009          1.304          0              0              0
  73  Cabinet         -0.274         0.402          0.995          0              0              0
  74  Cabinet         1.675          0.402          0.995          0              0              0
  75  Drawer          1.524          0.792          -0.294         0              180            0
  76  Drawer          2.187          0.792          0.995          0              0              0
  77  Cabinet         2.977          0.402          0.995          0              0              0
  78  Drawer          1.862          0.792          0.995          0              0              0
  79  Cabinet         0.072          2.259          1.304          0              0              0
  80  CounterTop      1.917          0.947          1.299          0              0              0
  81  Cabinet         2.328          0.402          0.995          0              0              0
  82  Cabinet         1.723          2.009          -0.607         0              180            0
  83  StoveBurner     0.677          0.923          1.345          0              0              0
  84  Cabinet         0.355          2.009          -0.607         0              180            0
  85  Cabinet         0.332          2.009          -0.607         0              180            0
  86  Cabinet         2.349          0.402          -0.296         0              180            0
  87  Cabinet         -0.284         2.009          -0.607         0              180            0
  88  Faucet          0.061          0.906          -0.903         0              0              0
  89  Drawer          2.837          0.792          0.995          0              0              0
  90  Drawer          1.175          0.792          0.995          0              0              0
  91  Cabinet         1.723          0.402          -0.296         0              180            0
  92  StoveKnob       0.588          1.093          1.557          287.970        0              0
  93  StoveKnob       0.188          1.093          1.557          287.970        0              0
  94  StoveKnob       0.749          1.093          1.557          287.970        0              0
  95  StoveKnob       0.338          1.093          1.557          287.970        0              0
  96  Toaster         1.934          0.900          -0.717         0              0              0
  97  LightSwitch     -1.662         1.427          1.649          0              180            0
  98  GarbageCan      -1.965         -0.029         1.358          0              270            0
  99  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 100  Fridge          3.043          0.0            -0.709         0              0              0
 101  Window          -2.183         1.501          -0.014         90             270            0
 102  SinkBasin       0.043          0.755          -0.651         0              0              0
 103  Microwave       0.531          1.675          1.437          0              180            0
 104  DiningTable     -0.836         8.404          -1.258         0              0              0
 105  Chair           -1.611         0.002          -1.185         0              45             0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine. | STEP 4: Slice the apple in front of the coffee machine with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the coffee machine. | STEP 8: Pick up a slice of apple from the counter. | STEP 9: Turn to face the microwave. | STEP 10: Heat up the apple slice in the microwave, removing it afterwards. | STEP 11: Turn left to walk to the sink. | STEP 12: Put the apple slice in the sink. | END