Task: To cool an apple piece 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          0.0            0              0              0
   1  DishSponge      -2.375         1.583          -1.631         0              180            0              76
   2  ButterKnife     0.817          0.910          -1.529         0              45             0              59
   3  Kettle          -2.638         1.539          1.912          0              0              0              61
   4  Kettle          1.411          0.929          0.064          0              0              0              78
   5  Fork            -2.289         0.911          0.631          0              0              0              77
   6  Fork            -2.379         0.774          1.370          0              90             0              80
   7  Spoon           -0.211         0.912          0.647          0              0              0              49
   8  Spoon           -0.211         0.912          1.764          0              0              0              49
   9  Spatula         -2.257         0.788          1.465          0              270            0              80
  10  Spatula         -2.348         0.788          0.952          0              270            0              54
  11  Egg             -2.393         1.119          -0.602         0              90             0              81
  12  Plate           -0.081         0.913          1.317          0              0              0              49
  13  Knife           1.391          0.945          -1.061         0              225            0              63
  14  Knife           -2.289         0.936          1.230          0              0              0              77
  15  Tomato          -2.485         1.131          -1.074         0              90             0              81
  16  Tomato          -0.730         0.953          1.094          0              0              0              49
  17  SoapBottle      -2.313         0.116          1.319          0              0              0              55
  18  SoapBottle      1.729          0.187          0.679          0              0              0              88
  19  Bowl            -2.605         1.534          -0.019         0              0              0              72
  20  Bowl            -0.341         0.908          1.540          0              0              0              49
  21  PepperShaker    -2.206         0.905          1.830          0              0              0              77
  22  PepperShaker    -2.685         1.532          2.477          0              0              0              53
  23  Bread           -2.455         0.996          0.931          0              0              0              77
  24  Mug             -2.439         1.295          -0.885         0              90             0              81
  25  Mug             -2.669         0.173          -0.459         0              90             0              81
  26  Pan             1.412          0.929          -0.335         0              0              0              50
  27  Knife           -2.538         0.936          0.631          0              0              0              77
  28  Apple           1.145          0.832          -1.376         0              225            0              87
  29  Bowl            -2.310         0.111          -0.023         0              0              0              65
  30  Fork            1.326          0.922          -1.266         0              225            0              63
  31  Bread           -2.455         0.996          1.230          0              0              0              77
  32  Plate           -0.341         0.913          0.870          0              0              0              49
  33  Egg             1.256          0.950          -1.196         0              225            0              63
  34  Kettle          1.691          0.929          -0.335         0              0              0              57
  35  Potato          -2.374         0.631          -1.051         0              90             0              81
  36  SaltShaker      -2.349         0.109          0.282          0              0              0              74
  37  Lettuce         -2.372         0.994          0.331          0              0              0              77
  38  Cup             -2.521         1.535          0.557          0              0              0              73
  39  SoapBottle      -2.349         0.116          0.489          0              0              0              74
  40  Spatula         1.595          0.925          -0.843         0              45             0              59
  41  PaperTowelRoll  0.994          1.015          -1.660         0              45             0              59
  42  ButterKnife     1.512          0.911          0.494          0              0              0              58
  43  PepperShaker    1.598          0.905          -0.945         0              45             0              59
  44  DishSponge      1.052          0.910          -1.039         0              45             0              63
  45  Pot             -2.311         0.105          0.895          0              270            0              75
  46  Spoon           0.048          0.912          1.540          0              0              0              49
  47  Tomato          -2.621         0.953          1.530          0              0              0              77
  48  Mug             -2.578         1.295          -1.074         0              180            0              81
  49  CounterTop      -0.360         0.946          1.093          0              0              0
  50  StoveBurner     1.412          0.923          -0.335         0              0              0
  51  StoveKnob       1.878          1.093          0.018          287.989        90             0
  52  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  53  Cabinet         -2.446         1.948          2.924          0              0              0
  54  Drawer          -2.276         0.792          0.902          0              0              0
  55  Cabinet         -2.145         0.402          1.578          0              0              0
  56  Cabinet         0.149          2.008          -1.603         0              90             0
  57  StoveBurner     1.691          0.923          -0.335         0              0              0
  58  CounterTop      1.585          0.946          0.405          0              0              0
  59  CounterTop      0.474          0.946          -1.625         0              0              0
  60  StoveBurner     1.691          0.923          0.064          0              0              0
  61  Cabinet         -2.446         1.948          1.687          0              0              0
  62  Cabinet         -2.446         1.948          1.640          0              0              0
  63  Sink            1.381          0.810          -1.271         0              225            0
  64  StoveKnob       1.878          1.093          0.150          287.989        90             0
  65  Cabinet         -2.145         0.402          -0.236         0              0              0
  66  Drawer          -2.276         0.792          0.437          0              0              0
  67  Drawer          -2.276         0.792          -0.027         0              0              0
  68  Cabinet         1.572          2.008          0.474          0              0              0
  69  Cabinet         1.572          2.008          -0.775         0              0              0
  70  Cabinet         -2.445         2.148          -1.275         0              0              0
  71  Cabinet         -2.446         2.148          -0.284         0              0              0
  72  Cabinet         -2.446         1.948          0.355          0              0              0
  73  Cabinet         -2.446         1.948          0.405          0              0              0
  74  Cabinet         -2.145         0.402          0.644          0              0              0
  75  Cabinet         -2.145         0.402          0.695          0              0              0
  76  Cabinet         -2.285         1.968          -1.325         0              180            0
  77  CounterTop      -1.485         0.946          1.319          0              0              0
  78  StoveBurner     1.411          0.923          0.064          0              0              0
  79  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  80  Drawer          -2.276         0.792          1.368          0              0              0
  81  Fridge          -2.475         0.0            -0.782         0              90             0
  82  LightSwitch     -0.929         1.350          -1.950         0              0              0
  83  Toaster         -2.564         0.900          1.876          0              90             0
  84  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  85  Window          1.508          1.534          -1.496         90             135            0
  86  Window          1.973          1.521          1.121          90             90             0
  87  SinkBasin       1.149          0.753          -1.380         0              225            0
  88  GarbageCan      1.646          -0.000         0.679          0              0              0
  89  Microwave       -2.580         0.900          2.440          0              90             0
  90  Stool           0.439          0.010          0.747          0              0              0
  91  Stool           -2.303         0.010          1.839          0              0              0
  92  Faucet          1.235          1.138          -1.473         0              225            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

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