Task: Pick up knife, slice apple, move knife to another table, heat apple slice in microwave and put it on a table.

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           1.124          -2.0           0              0              0
   1  Pan             -0.125         1.332          -2.973         0              0              0              58
   2  Potato          0.492          1.362          -2.678         0              0              0              50
   3  DishSponge      -1.660         1.322          0.770          0              0              0              50
   4  DishSponge      0.747          0.344          -1.751         0              180            0              49
   5  WineBottle      0.747          0.345          -1.957         0              180            0              49
   6  Spatula         -1.687         0.435          -1.217         0              90             0              56
   7  Spatula         -1.660         1.337          -2.461         0              180            0              50
   8  Pot             -1.790         1.329          -2.201         0              0              0              50
   9  Egg             0.818          1.565          1.539          0              270            0              63
  10  Cup             -1.920         1.320          -2.721         0              0              0              50
  11  Cup             -1.451         1.320          -2.981         0              0              0              50
  12  Plate           -1.920         1.323          -1.681         0              0              0              50
  13  Plate           1.053          0.345          -1.854         0              180            0              49
  14  SoapBottle      -2.049         1.323          -2.201         0              0              0              50
  15  SoapBottle      0.420          1.323          -3.121         0              0              0              50
  16  Tomato          1.285          1.356          -2.053         0              0              0              50
  17  Bowl            -1.884         0.342          0.311          0              0              0              48
  18  SaltShaker      -1.750         0.338          1.007          0              0              0              51
  19  SaltShaker      -1.884         0.338          0.512          0              0              0              48
  20  PepperShaker    -2.179         1.318          2.069          0              0              0              50
  21  Apple           -1.698         1.099          -0.542         0              0              0              68
  22  Bread           0.634          1.397          -2.900         0              0              0              50
  23  Pot             -2.049         1.329          1.744          0              0              0              50
  24  Knife           -1.826         1.362          -0.911         0              180            0              57
  25  Bowl            -1.165         1.321          -3.203         0              0              0              50
  26  Potato          1.246          1.350          0.810          0              270            0              75
  27  SoapBottle      -1.915         1.335          -0.911         0              0              0              57
  28  Fork            -1.660         1.323          -2.201         0              180            0              50
  29  Cup             0.982          1.943          1.730          0              270            0              63
  30  Kettle          -0.630         1.331          -3.301         0              180            0              47
  31  Egg             -1.657         0.321          2.193          0              270            0              65
  32  Pan             0.896          1.322          -2.424         0              270            0              50
  33  SaltShaker      -1.401         1.318          -2.461         0              0              0              50
  34  WineBottle      -2.179         1.323          -3.241         0              0              0              50
  35  Lettuce         -1.891         1.400          -1.072         1.463          0              355.778        57
  36  Spatula         -1.772         0.437          -1.086         0              270            0              56
  37  PaperTowelRoll  0.896          1.427          -2.053         0              0              0              50
  38  Tomato          1.123          1.558          1.662          0              270            0              63
  39  Plate           0.976          0.345          -2.164         0              180            0              49
  40  PepperShaker    0.349          1.318          -2.900         0              180            0              50
  41  DishSponge      0.900          0.459          1.054          0              0              0              77
  42  Spoon           -1.790         1.324          1.744          0              0              0              50
  43  Apple           -2.093         1.383          -1.255         0              0              0              57
  44  Mug             -1.749         0.338          0.512          0              0              0              48
  45  StoveBurner     -0.239         1.325          -3.301         0              180            0
  46  Cabinet         -1.461         0.775          -2.002         0              0              0
  47  StoveBurner     -0.630         1.325          -3.301         0              180            0
  48  Cabinet         -1.461         0.775          0.470          0              0              0
  49  Cabinet         0.578          0.776          -2.054         0              0              0
  50  CounterTop      -1.809         1.358          1.182          0              0              0
  51  Cabinet         -1.461         0.775          1.310          0              0              0
  52  Faucet          -2.063         1.362          -0.726         0              39.391         0
  53  StoveBurner     -0.749         1.325          -2.973         0              0              0
  54  Drawer          -1.610         0.681          -0.430         0              0              0
  55  Window          -2.566         1.799          -0.822         270            0              0
  56  Drawer          -1.610         0.681          -1.217         0              0              0
  57  Sink            -1.990         1.143          -0.975         0              0              0
  58  StoveBurner     -0.125         1.325          -2.973         0              0              0
  59  StoveKnob       -0.185         1.338          -2.741         0              270            180
  60  StoveKnob       -0.336         1.338          -2.741         0              270            180
  61  StoveKnob       -0.569         1.338          -2.741         0              270            180
  62  StoveKnob       -0.707         1.338          -2.741         0              270            180
  63  Fridge          1.013          0.227          1.917          0              270            0
  64  Microwave       0.994          1.310          -2.163         0              270            0
  65  GarbageCan      -1.633         0.212          2.192          0              270            0
  66  LightSwitch     1.386          1.565          -0.657         0              270            0
  67  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  68  SinkBasin       -1.835         1.039          -0.542         0              0              0
  69  ButterKnife     0.873          0.468          0.651          0              0              0
  70  Toaster         -1.885         1.310          -2.512         0              90             0
  71  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  72  Drawer          0.647          1.061          0.680          0              270            0
  73  Drawer          0.648          1.061          1.020          0              270            0
  74  Drawer          0.648          0.843          1.020          0              270            0
  75  SideTable       0.975          0.220          0.869          0              270            0
  76  Drawer          0.648          0.602          0.680          0              270            0
  77  Drawer          0.648          0.596          1.020          0              270            0
  78  Drawer          0.648          0.843          0.680          0              270            0
  79  Stool           0.606          0.222          -1.084         1.233          280.489        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn left to face counter next to sink. | STEP 2: Pick up knife between pump dispenser and lettuce from counter. | STEP 3: Move down the counter slightly to the left. | STEP 4: Slice apple on the back of the counter. | STEP 5: Turn around to table across room, with microwave on it. | STEP 6: Place knife on table, to the left of the microwave. | STEP 7: Turn around, go to counter with sliced apple on it. | STEP 8: Pick up slice of apple from counter. | STEP 9: Turn around, go to table with microwave and knife on it. | STEP 10: Put apple slice in microwave in front of potato, close door.  Wait three seconds, take apple out of microwave, shut door. | STEP 11: Move slightly to the left. | STEP 12: Put apple on counter left to the blade of the knife. | END