Task: To cool 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           0.0            0.900          -0.25          0              90             0
   1  Book            -2.321         0.875          3.370          0              270            0              57
   2  Book            -3.002         0.871          3.355          0              135            0              57
   3  ButterKnife     0.179          0.930          -1.646         0              270            0              52
   4  ButterKnife     -2.420         0.878          2.983          0              135            0              57
   5  Kettle          -1.516         0.913          -0.288         0              0              0              55
   6  WineBottle      -1.516         0.913          -0.614         0              0              0              55
   7  Spatula         -1.715         0.734          -0.788         0              270            0              70
   8  Pot             -2.072         0.914          -0.939         0              0              0              55
   9  Pot             1.328          0.957          -1.688         0              180            0              58
  10  Spoon           0.179          0.929          -1.501         0              270            0              52
  11  Egg             -0.263         0.414          2.054          0              180            0              80
  12  Egg             -0.263         1.169          2.206          0              180            0              80
  13  Plate           -1.501         1.661          -1.710         0              0              0              68
  14  Knife           -1.616         0.741          -1.001         0              90             0              70
  15  Knife           -1.649         0.741          -0.788         0              270            0              70
  16  Tomato          -3.165         0.922          3.444          0              270            0              57
  17  Tomato          -2.405         0.922          3.685          0              225            0              57
  18  SaltShaker      -2.584         0.874          3.053          0              0              0              57
  19  PepperShaker    1.622          0.716          -1.344         0              0              0              71
  20  Mug             1.157          1.756          -1.562         0              270            0              79
  21  Apple           -0.330         0.752          -1.468         0              270            0              84
  22  Apple           -2.487         0.929          3.288          0              225            0              57
  23  Book            -2.898         0.875          2.983          0              225            0              57
  24  Fork            -1.738         0.912          -0.614         0              0              0              55
  25  Tomato          1.614          0.957          -1.255         0              0              0              75
  26  Egg             -0.263         0.828          2.080          0              180            0              80
  27  Kettle          0.974          0.957          -1.419         0              180            0              73
  28  Vase            -0.833         0.913          -1.471         0              0              0              55
  29  Cup             1.316          1.759          -1.629         0              0              0              79
  30  WineBottle      -2.659         0.879          2.715          0              0              0              57
  31  Plate           0.307          0.807          2.137          0              180            0              80
  32  Spatula         -2.964         0.889          3.632          0              135            0              57
  33  Potato          -0.377         1.608          1.981          0              180            0              80
  34  Pot             -2.072         0.914          -1.265         0              0              0              55
  35  Knife           -1.269         0.934          -1.674         0              0              0              55
  36  SaltShaker      1.595          0.716          -1.443         0              0              0              71
  37  PepperShaker    0.934          2.153          -1.784         0              0              0              69
  38  Lettuce         -3.165         0.939          2.999          0              270            0              57
  39  ButterKnife     0.014          0.928          -1.429         0              90             0              52
  40  Bread           -0.263         1.655          2.160          0              180            0              80
  41  Vase            -2.050         0.120          -1.580         0              0              0              56
  42  DishSponge      0.124          0.928          -1.573         0              270            0              52
  43  Apple           -0.844         0.247          2.097          0              90             0              85
  44  Pan             -0.035         0.802          2.137          0              180            0              80
  45  Spoon           0.709          0.913          -1.776         0              0              0              55
  46  SoapBottle      0.289          0.931          -1.646         0              270            0              52
  47  Mug             -1.112         0.958          -1.479         0              0              0              92
  48  Statue          -1.849         0.919          -0.288         0              0              0              55
  49  Statue          -2.072         0.910          -0.614         0              0              0              55
  50  Bowl            -0.348         0.119          -1.413         0              0              0              64
  51  Cabinet         -2.171         2.009          -1.538         0              0              0
  52  Sink            0.024          0.771          -1.708         0              270            0
  53  Cabinet         1.444          2.259          -1.542         0              0              0
  54  StoveBurner     0.974          0.957          -1.688         0              180            0
  55  CounterTop      -1.866         0.947          -0.614         0              0              0
  56  Cabinet         -2.217         0.373          -1.874         0              0              0
  57  DiningTable     -2.663         0.002          3.208          0              0              0
  58  StoveBurner     1.328          0.957          -1.688         0              180            0
  59  StoveBurner     1.328          0.957          -1.420         0              180            0
  60  Cabinet         -1.478         0.373          -1.235         0              0              0
  61  Cabinet         1.775          0.372          -1.242         0              0              0
  62  Cabinet         0.774          0.372          -1.242         0              0              0
  63  Cabinet         0.375          0.372          -1.242         0              0              0
  64  Cabinet         -0.574         0.372          -1.238         0              0              0
  65  Cabinet         1.775          2.009          -1.542         0              0              0
  66  Cabinet         0.524          2.009          -1.542         0              0              0
  67  Cabinet         -0.714         2.009          -1.542         0              0              0
  68  Cabinet         -1.671         2.009          -1.538         0              0              0
  69  Cabinet         0.854          2.259          -1.542         0              0              0
  70  Drawer          -1.636         0.683          -0.930         0              0              0
  71  Drawer          1.650          0.682          -1.396         0              0              0
  72  Drawer          0.600          0.682          -1.396         0              0              0
  73  StoveBurner     0.974          0.957          -1.419         0              180            0
  74  Drawer          -2.062         0.683          -1.579         0              0              0
  75  CounterTop      1.645          0.945          -1.527         0              0              0
  76  Shelf           3.725          0.880          1.671          0              90             0
  77  LightSwitch     2.830          1.266          -0.748         0              0              0
  78  Shelf           3.726          0.552          1.671          0              90             0
  79  Microwave       1.150          1.655          -1.614         0              0              0
  80  Fridge          -0.035         0.0            2.177          0              180            0
  81  Window          -0.115         1.802          -1.896         90             0              0
  82  Window          -4.009         1.799          0.310          90             90             0
  83  Shelf           3.726          0.172          1.671          0              90             0
  84  SinkBasin       -0.330         0.686          -1.581         0              270            0
  85  GarbageCan      -0.870         -0.001         2.136          0              90             0
  86  StoveKnob       1.089          0.913          -1.243         45             0              0
  87  StoveKnob       1.208          0.913          -1.243         45             0              0
  88  StoveKnob       1.340          0.913          -1.243         45             0              0
  89  StoveKnob       0.961          0.913          -1.243         45             0              0
  90  Toaster         1.637          0.900          -1.673         0              0              0
  91  Chair           -3.505         0.002          3.290          0              105.736        0
  92  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  93  HousePlant      -2.663         0.835          3.209          0              0              0
  94  Faucet          -0.187         0.922          -1.75          0              311.166        0
  95  ShelvingUnit    3.726          0.006          1.671          0              90             0
  96  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  97  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  98  Chair           -2.934         0.002          2.437          0              28.531         0
  99  Chair           -1.698         0.002          3.235          0              245.204        0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn right and step forward to face the sink. | STEP 2: Pick up the knife on the sink. | STEP 3: Take a step to the right to face the apple in the sink. | STEP 4: Cut the apple in the sink into three pieces. | STEP 5: Look down to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Look down to face the apple in the sink. | STEP 8: Pick up a piece of apple in the sink. | STEP 9: Turn around and cross the room to face the fridge. | STEP 10: Cool the apple piece in the fridge and remove it. | STEP 11: Turn around and cross the room to face the microwave. | STEP 12: Place the apple piece in the microwave. | END