Task: Microwave an apple slice and place it on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.914          2.25           0              180            0
   1  ButterKnife     -0.994         0.891          0.255          0              90             0              76
   2  WineBottle      -3.368         0.916          1.524          0              0              0              49
   3  WineBottle      -1.161         0.087          3.788          0              270            0              72
   4  Kettle          -3.148         0.966          2.374          0              0              0              43
   5  Spatula         -3.463         0.930          1.357          0              0              0              49
   6  Spatula         -3.097         0.762          2.861          0              90             0              42
   7  Spoon           -3.368         0.916          1.440          0              0              0              49
   8  Fork            -2.022         0.916          4.188          0              0              0              40
   9  Fork            -2.503         0.916          3.890          0              90             0              40
  10  Pot             -3.424         0.966          2.374          0              0              0              46
  11  Cup             -1.523         0.891          0.049          0              90             0              76
  12  Bowl            -0.790         0.985          4.051          0              180            0              66
  13  Bowl            -0.994         0.890          0.049          0              90             0              76
  14  SaltShaker      -3.654         0.912          1.607          0              0              0              49
  15  PepperShaker    -1.391         0.887          0.564          0              90             0              76
  16  Mug             -0.089         1.536          4.033          0              180            0              66
  17  Egg             -3.654         0.950          1.273          0              0              0              49
  18  Knife           -3.126         0.768          1.202          0              90             0              41
  19  Fork            -1.815         0.916          4.146          0              0              0              40
  20  Bread           -1.259         0.972          0.358          0              90             0              76
  21  Potato          -3.537         1.578          2.172          0              90             0              71
  22  Plate           -3.272         0.919          1.189          0              0              0              49
  23  Pot             -3.424         0.966          1.971          0              0              0              48
  24  Kettle          -3.505         1.456          3.729          0              0              0              57
  25  WineBottle      -2.410         0.081          3.625          0              0              0              51
  26  Bowl            -1.565         0.079          3.586          0              0              0              45
  27  Tomato          -3.559         0.984          1.524          0              0              0              49
  28  Cup             -2.402         0.915          3.998          0              0              0              40
  29  Spatula         -3.185         0.762          2.861          0              90             0              42
  30  SoapBottle      -1.655         0.891          0.564          0              90             0              76
  31  Lettuce         -1.759         0.974          0.085          0              0              0              76
  32  Pan             -0.323         0.985          3.988          0              90             0              66
  33  Apple           -0.440         1.601          4.033          0              180            0              66
  34  SaltShaker      -3.157         0.743          3.326          0              0              0              50
  35  PepperShaker    -3.573         1.455          3.224          0              0              0              47
  36  ButterKnife     -1.523         0.891          0.152          0              90             0              76
  37  DishSponge      -1.655         0.891          0.255          0              90             0              76
  38  Spoon           -1.857         0.790          3.737          0              180            0              70
  39  Mug             -1.921         0.784          3.662          0              0              0              70
  40  CounterTop      -3.381         0.950          3.335          0              0              0
  41  Drawer          -3.121         0.775          1.357          0              0              0
  42  Drawer          -3.121         0.777          2.916          0              0              0
  43  StoveBurner     -3.148         0.958          2.374          0              0              0
  44  Sink            -1.797         0.917          3.660          0              0              0
  45  Cabinet         -1.421         0.388          3.459          0              0              0
  46  StoveBurner     -3.424         0.958          2.374          0              0              0
  47  Cabinet         -3.365         1.931          2.676          0              0              0
  48  StoveBurner     -3.424         0.958          1.971          0              0              0
  49  CounterTop      -3.381         0.951          1.356          0              0              0
  50  Drawer          -3.121         0.781          3.295          0              0              0
  51  Cabinet         -2.205         0.388          3.459          0              0              0
  52  Cabinet         -2.963         0.388          3.459          0              0              0
  53  Cabinet         -2.992         0.388          2.683          0              0              0
  54  Cabinet         -3.352         2.205          1.715          0              0              0
  55  Cabinet         -3.352         2.205          2.653          0              0              0
  56  Cabinet         -2.189         0.388          3.466          0              0              0
  57  Cabinet         -3.365         1.931          3.963          0              0              0
  58  Cabinet         -3.365         1.931          1.056          0              0              0
  59  Cabinet         -2.992         0.388          1.037          0              0              0
  60  StoveBurner     -3.143         0.958          1.971          0              0              0
  61  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  62  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  63  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  64  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  65  Toaster         -2.654         0.902          4.064          0              180            0
  66  Fridge          -0.439         0.014          3.996          0              0              0
  67  LightSwitch     0.25           1.383          2.085          0              270            0
  68  Window          -1.430         1.338          -0.347         90             0              0
  69  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  70  SinkBasin       -1.802         0.778          3.700          0              0              0
  71  Microwave       -3.484         1.430          2.182          0              90             0
  72  GarbageCan      -1.184         -0.020         3.794          0              270            0
  73  Blinds          -1.404         2.092          -0.296         0              0              0
  74  Stool           -1.373         0.014          1.048          1.214          20.754         0
  75  Faucet          -1.788         0.903          3.931          270            90             0
  76  DiningTable     -1.399         0.010          0.238          0              0              0
  77  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn left then walk towards the door, then head left towards the refrigerator.  | STEP 2: Take the green apple from the top shelf in the refrigerator.  | STEP 3: Turn all the way around, walk towards the table underneath the window. | STEP 4: Place the apple to the right of the knife on the table. | STEP 5: Pick up the knife in between the cup and the apple. | STEP 6: Cut the apple with the knife on the table. | STEP 7: Place the knife by the apple on the right side. | STEP 8: Pick up the apple slice from the table. | STEP 9: Turn right, walk towards the refrigerator, then turn left then walk towards the stove. | STEP 10: Place the apple slice in the microwave, then turn it on. | STEP 11: Remove the apple slice from the microwave, turn around then head towards the door, turn right then head towards the table. | STEP 12: Place the apple slice to the right of the cup. | END