Task: Put a piece of cold apple in a microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -0.25          0              0              0
   1  Pan             -1.129         0.935          -3.498         0              0              0              51
   2  Glassbottle     -2.096         0.924          -1.654         0              0              0              78
   3  Glassbottle     -0.436         0.916          -2.563         0              0              0              53
   4  Pencil          -2.096         0.923          -1.423         0              0              0              78
   5  Pen             -2.210         0.926          -2.115         0              0              0              78
   6  Potato          -0.447         0.828          -2.082         0              270            0              71
   7  WineBottle      -2.006         0.027          -3.799         0              0              0              69
   8  Spatula         -2.324         0.938          -2.345         0              0              0              78
   9  Spatula         -0.600         0.930          -3.839         0              0              0              53
  10  Fork            -2.438         0.924          -1.654         0              180            0              78
  11  Spoon           -2.324         0.924          -2.115         0              0              0              78
  12  Knife           -2.666         0.946          -0.963         0              180            0              78
  13  Plate           -0.460         0.083          -1.849         0              0              0              48
  14  Egg             -0.398         0.830          -1.934         0              270            0              71
  15  Tomato          -2.438         0.987          -0.963         0              0              0              78
  16  Bowl            -0.392         1.097          -0.560         0              270            0              70
  17  Lettuce         -2.438         1.016          -1.423         0              0              0              78
  18  Lettuce         -0.392         1.191          -0.769         0              270            0              70
  19  SaltShaker      -0.304         0.077          -3.267         0              0              0              59
  20  SaltShaker      -0.600         0.912          -3.485         0              0              0              53
  21  Mug             -0.809         0.077          -3.662         0              90             0              57
  22  Mug             -0.205         1.965          -1.938         0              90             0              55
  23  Apple           -0.457         0.989          -3.909         0              0              0              53
  24  Lettuce         -2.780         1.016          -2.345         0              0              0              78
  25  Glassbottle     -0.671         0.916          -3.697         0              0              0              53
  26  Egg             -1.204         1.663          -3.804         0              0              0              66
  27  Pen             -1.943         0.029          -3.799         0              0              0              69
  28  Fork            -2.666         0.924          -1.884         0              0              0              78
  29  SoapBottle      -0.357         1.529          -3.644         0              45             0              61
  30  Pencil          -2.210         0.923          -1.423         0              0              0              78
  31  WineBottle      -0.815         0.916          -3.697         0              0              0              53
  32  Spatula         -2.324         0.938          -1.193         0              0              0              78
  33  Bread           -0.415         0.952          -3.625         0              0              0              53
  34  Tomato          -0.441         1.162          -1.084         0              270            0              70
  35  Pan             -1.515         0.935          -3.752         0              90             0              49
  36  Cup             -0.815         0.914          -3.485         0              0              0              53
  37  Pot             -2.238         0.913          -1.882         0              0              0              78
  38  SaltShaker      -0.499         0.077          -3.330         0              0              0              59
  39  Potato          -0.308         1.722          -0.77          0              270            0              70
  40  PepperShaker    -0.995         1.965          -3.773         0              0              0              62
  41  ButterKnife     -0.371         0.903          -3.443         0              0              0              53
  42  DishSponge      -1.496         1.969          -3.851         0              0              0              62
  43  Spoon           -2.324         0.924          -0.963         0              0              0              78
  44  Plate           -2.121         0.913          -2.422         0              0              0              78
  45  Knife           -2.666         0.946          -1.654         0              180            0              78
  46  Mug             -1.309         1.625          -3.903         0              0              0              66
  47  Bowl            -0.295         1.389          -0.560         0              270            0              70
  48  Cabinet         -0.582         0.388          -1.804         0              0              0
  49  StoveBurner     -1.515         0.928          -3.752         0              90             0
  50  StoveBurner     -1.515         0.928          -3.497         0              0              0
  51  StoveBurner     -1.129         0.928          -3.498         0              0              0
  52  Drawer          -0.749         0.779          -3.551         0              0              0
  53  CounterTop      -0.303         0.951          -2.793         0              0              0
  54  Cabinet         -0.883         2.140          -3.687         0              0              0
  55  Cabinet         -0.312         2.140          -1.543         0              0              0
  56  Sink            -0.349         0.907          -2.014         0              0              0
  57  Cabinet         -0.877         0.388          -3.422         0              0              0
  58  Cabinet         -0.582         0.388          -2.197         0              0              0
  59  Cabinet         -0.584         0.388          -3.396         0              0              0
  60  Cabinet         -0.312         2.140          -2.481         0              0              0
  61  Cabinet         -0.330         1.921          -3.390         0              0              0
  62  Cabinet         -1.764         2.140          -3.687         0              0              0
  63  StoveBurner     -1.129         0.928          -3.752         0              90             0
  64  Drawer          -0.454         0.779          -3.268         0              0              0
  65  Cabinet         -0.302         1.916          -2.501         0              0              0
  66  Microwave       -1.317         1.517          -3.801         0              1.440          0
  67  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  68  LightSwitch     -4.323         1.319          0.0            0              180            0
  69  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  70  Fridge          -0.330         0.0            -0.769         0              270            0
  71  SinkBasin       -0.350         0.786          -2.018         0              270            0
  72  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  76  Toaster         -0.181         0.903          -2.764         0              270            0
  77  Window          -2.503         1.782          -4.185         90             180            0
  78  DiningTable     -2.432         0.000          -1.694         0              270            0
  79  Shelf           -2.432         0.150          -1.694         0              270            0
  80  Blinds          -2.536         2.699          -3.959         0              0              0
  81  Faucet          -0.079         0.904          -2.034         270            180            0
  82  Chair           -3.264         0.002          -2.094         0              53.280         0
  83  Chair           -3.240         0.002          -1.253         0              117.257        0
  84  Shelf           -2.432         0.523          -1.694         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn around, go forward to the oven, turn left, go to the counter with the toaster and coffee machine. | STEP 2: Take the knife to the right of the coffee machine. | STEP 3: Turn right to face the oven. | STEP 4: Cut the apple on the counter to the left of the oven into pieces | STEP 5: Turn around, go forward to the wall, turn right to face the fridge. | STEP 6: Put the knife in front of the lettuce in the fridge. | STEP 7: Turn right, go forward to the oven. | STEP 8: Take a piece of apple from the counter to the left of the oven. | STEP 9: Turn around, go forward to the wall, turn right to face the fridge. | STEP 10: Chill the apple in the fridge. Take the apple from the fridge. | STEP 11: Turn right, go towards the oven. | STEP 12: Put the apple in the microwave above the oven. | END