Task: Clean and wash an apple piece, then microwave it.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -1.0           0              90             0
   1  DishSponge      -2.372         0.910          0.931          0              0              0              72
   2  DishSponge      -2.318         0.773          0.534          0              0              0              61
   3  Fork            -0.211         0.911          1.317          0              0              0              44
   4  Spoon           0.798          0.912          -1.650         0              45             0              54
   5  Spoon           -2.621         0.912          0.031          0              0              0              72
   6  Spatula         -2.348         0.789          0.809          0              90             0              49
   7  Spatula         1.647          0.925          -0.895         0              45             0              54
   8  Pot             1.691          0.929          0.064          0              0              0              55
   9  Pot             1.691          0.929          -0.335         0              0              0              52
  10  Egg             -2.613         0.209          -1.012         0              90             0              76
  11  Cup             -2.521         1.535          0.485          0              0              0              68
  12  Plate           1.734          1.659          0.018          0              0              0              63
  13  SoapBottle      1.698          1.665          -0.622         0              0              0              64
  14  Bowl            0.048          0.908          1.540          0              0              0              44
  15  SaltShaker      -2.237         0.109          -0.122         0              0              0              60
  16  Lettuce         -2.455         0.994          1.230          0              0              0              72
  17  Mug             0.588          1.658          -1.802         0              90             0              51
  18  Mug             -2.411         1.578          -1.704         0              180            0              71
  19  Apple           -0.601         0.972          1.764          0              0              0              44
  20  Apple           1.687          0.246          0.679          0              0              0              83
  21  Pan             0.0            0.9            0.948          0              29.999         0              44
  22  Knife           1.512          0.936          0.494          0              0              0              53
  23  Apple           -2.393         1.150          -0.507         0              90             0              76
  24  Bowl            -2.455         0.908          1.530          0              0              0              72
  25  Fork            1.684          0.911          0.435          0              0              0              53
  26  Bread           -0.730         0.996          0.647          0              0              0              44
  27  Plate           -2.538         0.913          0.631          0              0              0              72
  28  Egg             -2.558         0.209          -0.570         0              90             0              76
  29  Kettle          1.412          0.929          -0.335         0              0              0              45
  30  Potato          -2.532         1.125          -0.602         0              90             0              76
  31  SaltShaker      -2.484         1.578          -1.558         0              180            0              71
  32  Lettuce         1.442          1.001          -1.220         0              225            0              58
  33  Cup             -2.538         0.908          0.031          0              0              0              72
  34  SoapBottle      -2.567         1.940          -0.634         0              0              0              66
  35  Spatula         -2.348         0.789          -0.073         0              90             0              62
  36  PaperTowelRoll  -0.730         1.015          0.870          0              0              0              44
  37  ButterKnife     1.318          0.918          -1.204         0              225            0              58
  38  PepperShaker    -2.564         1.532          0.052          0              0              0              67
  39  DishSponge      -2.605         1.537          -0.092         0              0              0              67
  40  Pot             1.411          0.929          0.064          0              0              0              73
  41  Spoon           1.426          0.919          -1.096         0              225            0              58
  42  Tomato          -2.289         0.953          0.631          0              0              0              72
  43  Mug             -2.578         1.295          -0.696         0              180            0              76
  44  CounterTop      -0.360         0.946          1.093          0              0              0
  45  StoveBurner     1.412          0.923          -0.335         0              0              0
  46  StoveKnob       1.878          1.093          0.018          287.989        90             0
  47  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  48  Cabinet         -2.446         1.948          2.924          0              0              0
  49  Drawer          -2.276         0.792          0.902          0              0              0
  50  Cabinet         -2.145         0.402          1.578          0              0              0
  51  Cabinet         0.149          2.008          -1.603         0              90             0
  52  StoveBurner     1.691          0.923          -0.335         0              0              0
  53  CounterTop      1.585          0.946          0.405          0              0              0
  54  CounterTop      0.474          0.946          -1.625         0              0              0
  55  StoveBurner     1.691          0.923          0.064          0              0              0
  56  Cabinet         -2.446         1.948          1.687          0              0              0
  57  Cabinet         -2.446         1.948          1.640          0              0              0
  58  Sink            1.381          0.810          -1.271         0              225            0
  59  StoveKnob       1.878          1.093          0.150          287.989        90             0
  60  Cabinet         -2.145         0.402          -0.236         0              0              0
  61  Drawer          -2.276         0.792          0.437          0              0              0
  62  Drawer          -2.276         0.792          -0.027         0              0              0
  63  Cabinet         1.572          2.008          0.474          0              0              0
  64  Cabinet         1.572          2.008          -0.775         0              0              0
  65  Cabinet         -2.445         2.148          -1.275         0              0              0
  66  Cabinet         -2.446         2.148          -0.284         0              0              0
  67  Cabinet         -2.446         1.948          0.355          0              0              0
  68  Cabinet         -2.446         1.948          0.405          0              0              0
  69  Cabinet         -2.145         0.402          0.644          0              0              0
  70  Cabinet         -2.145         0.402          0.695          0              0              0
  71  Cabinet         -2.285         1.968          -1.325         0              180            0
  72  CounterTop      -1.485         0.946          1.319          0              0              0
  73  StoveBurner     1.411          0.923          0.064          0              0              0
  74  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  75  Drawer          -2.276         0.792          1.368          0              0              0
  76  Fridge          -2.475         0.0            -0.782         0              90             0
  77  LightSwitch     -0.929         1.350          -1.950         0              0              0
  78  Toaster         -2.564         0.900          1.876          0              90             0
  79  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  80  Window          1.508          1.534          -1.496         90             135            0
  81  Window          1.973          1.521          1.121          90             90             0
  82  SinkBasin       1.149          0.753          -1.380         0              225            0
  83  GarbageCan      1.646          -0.000         0.679          0              0              0
  84  Microwave       -2.580         0.900          2.440          0              90             0
  85  Stool           0.439          0.010          0.747          0              0              0
  86  Stool           -2.303         0.010          1.839          0              0              0
  87  Faucet          1.235          1.138          -1.473         0              225            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Move forward to the sink, turn left, walk until the stove is on your right, then turn right. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward one step, then turn right to face the garbage can. | STEP 4: Cut the apple into three pieces. | STEP 5: Turn right, walk forward one step, then turn left to face the counter. | STEP 6: Place the knife on the counter.  | STEP 7: Turn left, walk forward one step, and turn right to face the garbage can. | STEP 8: Pick up the piece of apple that's closest to you. | STEP 9: Turn around, walk to the counter, then turn left and walk to the sink. | STEP 10: Place the apple in the sink, rinse it, then remove it.  | STEP 11: Turn around, walk to the wall, then turn left and walk to the microwave.  | STEP 12: Open the microwave and put the apple piece inside. | END