Task: TO wash a piece of apple and place it 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           -0.25          0.900          -1.0           0              90             0
   1  ButterKnife     -0.471         0.910          0.647          0              0              0              43
   2  Fork            -2.379         0.773          0.439          0              90             0              60
   3  Spoon           -2.538         0.912          0.331          0              0              0              71
   4  Spoon           -2.257         0.774          0.809          0              90             0              48
   5  Spatula         -0.211         0.925          1.094          0              0              0              43
   6  Spatula         -2.372         0.925          1.230          0              0              0              71
   7  Pot             1.691          0.929          -0.335         0              0              0              51
   8  Egg             -2.328         0.625          -0.872         0              90             0              75
   9  Cup             -2.439         1.298          -0.885         0              90             0              75
  10  Plate           -2.621         0.913          0.631          0              0              0              71
  11  Tomato          -2.559         0.637          -0.962         0              90             0              75
  12  Tomato          0.683          0.953          -1.539         0              0              0              53
  13  SoapBottle      1.426          0.913          0.435          0              0              0              52
  14  SoapBottle      -2.638         1.539          1.840          0              0              0              55
  15  Bowl            -2.448         1.580          -1.485         0              180            0              70
  16  SaltShaker      -2.384         0.109          0.489          0              0              0              68
  17  Lettuce         0.048          0.994          1.764          0              0              0              43
  18  Bread           -2.206         0.996          0.931          0              0              0              71
  19  Apple           -2.532         1.150          -0.602         0              90             0              75
  20  Pan             0.0            0.9            0.948          0              29.999         0              43
  21  Knife           -2.257         0.798          0.022          0              270            0              61
  22  Apple           1.562          0.246          0.706          0              0              0              82
  23  Bowl            0.588          1.660          -1.729         0              90             0              50
  24  Fork            -0.341         0.911          0.423          0              0              0              43
  25  Bread           -2.206         0.996          1.530          0              0              0              71
  26  Plate           -2.538         0.913          0.931          0              0              0              71
  27  Egg             -2.559         0.625          -0.514         0              90             0              75
  28  Kettle          1.691          0.929          0.064          0              0              0              54
  29  Potato          1.064          0.947          -1.052         0              45             0              57
  30  SaltShaker      -2.685         1.928          -1.150         0              0              0              64
  31  Lettuce         -0.601         0.994          0.423          0              0              0              43
  32  Cup             1.698          1.661          -0.622         0              0              0              63
  33  SoapBottle      -2.638         1.539          0.702          0              0              0              67
  34  Spatula         -0.601         0.925          0.647          0              0              0              43
  35  PaperTowelRoll  1.729          0.289          0.679          0              0              0              82
  36  ButterKnife     -2.372         0.910          1.230          0              90             0              71
  37  PepperShaker    -2.384         0.109          0.808          0              0              0              69
  38  DishSponge      1.684          0.910          0.435          0              0              0              52
  39  Pot             1.412          0.929          -0.335         0              0              0              44
  40  Spoon           1.513          0.912          -0.726         0              0              0              53
  41  Tomato          -0.471         0.953          0.870          0              0              0              43
  42  Mug             1.855          0.906          0.376          0              0              0              52
  43  CounterTop      -0.360         0.946          1.093          0              0              0
  44  StoveBurner     1.412          0.923          -0.335         0              0              0
  45  StoveKnob       1.878          1.093          0.018          287.989        90             0
  46  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  47  Cabinet         -2.446         1.948          2.924          0              0              0
  48  Drawer          -2.276         0.792          0.902          0              0              0
  49  Cabinet         -2.145         0.402          1.578          0              0              0
  50  Cabinet         0.149          2.008          -1.603         0              90             0
  51  StoveBurner     1.691          0.923          -0.335         0              0              0
  52  CounterTop      1.585          0.946          0.405          0              0              0
  53  CounterTop      0.474          0.946          -1.625         0              0              0
  54  StoveBurner     1.691          0.923          0.064          0              0              0
  55  Cabinet         -2.446         1.948          1.687          0              0              0
  56  Cabinet         -2.446         1.948          1.640          0              0              0
  57  Sink            1.381          0.810          -1.271         0              225            0
  58  StoveKnob       1.878          1.093          0.150          287.989        90             0
  59  Cabinet         -2.145         0.402          -0.236         0              0              0
  60  Drawer          -2.276         0.792          0.437          0              0              0
  61  Drawer          -2.276         0.792          -0.027         0              0              0
  62  Cabinet         1.572          2.008          0.474          0              0              0
  63  Cabinet         1.572          2.008          -0.775         0              0              0
  64  Cabinet         -2.445         2.148          -1.275         0              0              0
  65  Cabinet         -2.446         2.148          -0.284         0              0              0
  66  Cabinet         -2.446         1.948          0.355          0              0              0
  67  Cabinet         -2.446         1.948          0.405          0              0              0
  68  Cabinet         -2.145         0.402          0.644          0              0              0
  69  Cabinet         -2.145         0.402          0.695          0              0              0
  70  Cabinet         -2.285         1.968          -1.325         0              180            0
  71  CounterTop      -1.485         0.946          1.319          0              0              0
  72  StoveBurner     1.411          0.923          0.064          0              0              0
  73  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  74  Drawer          -2.276         0.792          1.368          0              0              0
  75  Fridge          -2.475         0.0            -0.782         0              90             0
  76  LightSwitch     -0.929         1.350          -1.950         0              0              0
  77  Toaster         -2.564         0.900          1.876          0              90             0
  78  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  79  Window          1.508          1.534          -1.496         90             135            0
  80  Window          1.973          1.521          1.121          90             90             0
  81  SinkBasin       1.149          0.753          -1.380         0              225            0
  82  GarbageCan      1.646          -0.000         0.679          0              0              0
  83  Microwave       -2.580         0.900          2.440          0              90             0
  84  Stool           0.439          0.010          0.747          0              0              0
  85  Stool           -2.303         0.010          1.839          0              0              0
  86  Faucet          1.235          1.138          -1.473         0              225            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Walk around the room to the left and turn left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and walk forward and turn right to face the fridge. | STEP 4: Cut the apple in the fridge into three slices. | STEP 5: Turn right and walk across the room and turn left to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Turn to the left and walk forward to face the fridge on the right. | STEP 8: Pick up the piece of apple in the fridge. | STEP 9: Turn around and walk across the room to face the sink. | STEP 10: Wash the piece of apple in the sink and then remove it. | STEP 11: Walk to the opposite corner of the room to face the microwave. | STEP 12: Place the piece of apple in the microwave. | END