Task: Put a cooled piece of apple into 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           -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 right and move forward slightly, then turn right and head to the white oven, then turn left and move forward to the green counter with the toaster and coffee maker on top  | STEP 2: pick up the knife to the right of the coffee maker | STEP 3: turn right and face the counter with the wine bottle and red apple on it  | STEP 4: cut the red apple into several pieces | STEP 5: turn around and move towards the end of the kitchen, then turn right and face the refrigerator  | STEP 6: open the refrigerator, put the knife in front of the green cabbage, then close the refrigerator | STEP 7: turn right and move forward to the white oven | STEP 8: pick up a piece of the apple | STEP 9: turn around and head towards the end of the kitchen, then turn right and face the refrigerator | STEP 10: open the refrigerator and put the piece of apple inside, then close the refrigerator, then wait a moderate amount of time, then open the refrigerator and pick up the piece of apple and close the refrigerator | STEP 11: turn around, move forward slightly, then turn left and move forward to the white oven and look up to the microwave the site on a shelf above the white oven | STEP 12: open the microwave and put the piece of cooled apple inside, then close the microwave | END