Task: Put two apple slices in the microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.869          -0.5           0              180            0
   1  Potato          -1.260         0.085          -3.684         0              270            0              51
   2  Potato          0.746          1.407          -1.802         0              270            0              56
   3  ButterKnife     -2.054         0.701          -1.307         0              0              0              72
   4  ButterKnife     0.655          0.883          -0.245         0              180            0              36
   5  Spoon           1.024          0.884          -0.039         0              90             0              36
   6  Spoon           0.781          0.666          0.387          0              90             0              41
   7  Plate           -1.719         0.705          -1.416         0              0              0              72
   8  Tomato          -1.224         0.100          -3.574         0              270            0              51
   9  SaltShaker      -1.578         0.692          -3.782         0              0              0              63
  10  SaltShaker      0.721          0.660          0.387          0              0              0              41
  11  Lettuce         0.715          0.859          -0.735         0              270            0              59
  12  Mug             0.698          0.941          -1.360         0              270            0              49
  13  Apple           0.149          0.954          1.272          0              270            0              62
  14  Pot             -1.555         0.930          1.049          0              0              0              45
  15  Plate           -0.855         0.904          0.929          0              270            0              62
  16  Fork            0.757          0.773          -0.570         0              270            0              59
  17  SoapBottle      -1.970         0.701          -1.091         0              0              0              72
  18  Apple           0.601          0.718          0.508          0              0              0              41
  19  Pan             -2.097         0.930          1.049          0              0              0              43
  20  Egg             0.841          0.809          -0.680         0              270            0              59
  21  Spatula         0.866          0.774          -0.252         0              90             0              35
  22  Potato          0.149          0.933          1.187          0              270            0              62
  23  Cup             0.621          0.014          -0.506         0              0              0              39
  24  SaltShaker      0.582          0.879          -0.314         0              0              0              36
  25  PepperShaker    0.621          0.012          -0.768         0              0              0              39
  26  ButterKnife     -0.252         0.900          0.843          0              270            0              62
  27  DishSponge      0.903          1.463          -0.207         0              0              0              47
  28  Bread           -0.051         0.944          1.015          0              270            0              62
  29  Lettuce         0.841          0.752          0.569          0              0              0              41
  30  Tomato          0.746          1.207          -1.725         0              270            0              56
  31  Spoon           0.720          0.760          0.002          0              0              0              35
  32  Knife           0.877          0.906          0.098          0              0              0              36
  33  Mug             -2.054         0.794          -3.673         0              0              0              58
  34  Bowl            0.787          0.014          -0.702         0              0              0              39
  35  Drawer          0.706          0.766          -0.125         0              0              0
  36  CounterTop      0.792          0.919          -0.108         0              0              0
  37  Mirror          1.093          1.602          -0.643         0              0              0
  38  StoveBurner     -2.096         0.890          0.785          0              0              0
  39  Cabinet         0.507          0.345          -0.426         0              0              0
  40  StoveBurner     -1.552         0.890          0.785          0              0              0
  41  SideTable       0.770          -0.030         0.443          0              0              0
  42  Sink            0.753          0.882          -0.680         0              0              0
  43  StoveBurner     -2.096         0.890          1.049          0              0              0
  44  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  45  StoveBurner     -1.554         0.890          1.049          0              0              0
  46  Cabinet         0.507          0.345          0.156          0              0              0
  47  Cabinet         0.717          1.822          -0.398         0              0              0
  48  Cabinet         0.717          1.822          0.669          0              0              0
  49  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  50  Toaster         -0.522         0.886          1.081          0              180            0
  51  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  52  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  53  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  54  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  56  Fridge          0.680          -0.031         -1.957         0              0              0
  57  Window          -2.424         1.639          -2.453         90             270            0
  58  Microwave       -1.994         0.690          -3.651         0              0              0
  59  SinkBasin       0.757          0.762          -0.688         0              270            0
  60  LightSwitch     1.102          1.368          -3.737         0              270            0
  61  Shelf           -0.350         0.124          0.857          0              0              0
  62  DiningTable     -0.350         -0.025         0.857          0              0              0
  63  DiningTable     -1.909         -0.032         -3.507         0              0              0
  64  Blinds          -2.343         2.151          -2.437         0              270            0
  65  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  66  AluminumFoil    0.751          0.225          0.287          0              0              0
  67  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  68  Shelf           0.771          0.226          0.445          0              0              0
  69  Shelf           0.771          0.456          0.446          0              0              0
  70  Faucet          1.025          0.873          -0.678         270            180            0
  71  Shelf           -0.350         0.497          0.857          0              0              0
  72  DiningTable     -1.929         -0.035         -1.398         0              90             0
  73  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Go to the counter on the left of the sink. | STEP 2: Pick up the butter knife next to the salt. | STEP 3: Go to the end of the table by the trash bag on the floor. | STEP 4: Slice the apple on the back of the counter. | STEP 5: Go to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Go back to the table next to the trash bag. | STEP 8: Pick up an apple slice on the table. | STEP 9: Turn and go back to the microwave. | STEP 10: Put the apple slice on the plate in the microwave. | STEP 11: Pick up the butter knife in the microwave. | STEP 12: Go to the stand to the right of the trash bag on the floor. | STEP 13: Slice the apple on the stand. | STEP 14: Go back to the microwave. | STEP 15: Put the butter knife in the microwave. | STEP 16: Turn left and go to the stand at the end of the counter. | STEP 17: Pick up an apple slice on the stand. | STEP 18: Go to the microwave. | STEP 19: Put the apple slice in the microwave. | END