Task: Put a chilled piece of apple 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           1.75           0.900          2.75           0              180            0
   1  Potato          1.032          0.800          -1.654         0              0              0              60
   2  Ladle           0.220          0.954          1.004          0              90             0              41
   3  ButterKnife     1.757          0.910          1.180          0              90             0              41
   4  DishSponge      1.800          0.069          1.731          0              270            0              59
   5  Fork            1.726          0.911          -1.631         0              180            0              45
   6  Spoon           0.894          0.761          -1.654         0              90             0              60
   7  Spoon           1.529          0.911          0.518          0              90             0              41
   8  Spatula         1.796          0.926          -1.288         0              270            0              45
   9  Spatula         1.865          0.926          -1.717         0              0              0              45
  10  Egg             1.738          1.050          -0.888         0              270            0              65
  11  Cup             1.738          1.013          -0.676         0              270            0              65
  12  Plate           1.805          1.634          -0.828         0              0              0              53
  13  Plate           1.809          2.137          1.159          0              0              0              48
  14  SoapBottle      0.988          0.908          1.269          0              90             0              41
  15  Tomato          -0.838         1.452          -1.559         0              0              0              68
  16  Tomato          -0.644         0.524          -1.412         0              0              0              68
  17  PepperShaker    1.734          1.630          -1.419         0              0              0              54
  18  Mug             -0.790         0.741          -1.594         0              0              0              68
  19  Plate           1.805          1.655          -0.449         0              0              0              52
  20  SoapBottle      1.739          0.068          1.588          0              270            0              59
  21  Cup             1.770          1.653          0.045          0              0              0              51
  22  Egg             1.451          0.945          0.415          0              90             0              41
  23  Fork            1.501          0.911          1.092          0              180            0              41
  24  Ladle           1.201          0.926          0.743          3.353          0              346.984        41
  25  Apple           1.516          0.968          -1.802         0              90             0              45
  26  SaltShaker      1.757          0.905          0.915          0              90             0              41
  27  Pan             1.548          0.909          0.075          0              180            0              47
  28  Tomato          0.553          0.975          -1.263         0              90             0              45
  29  Spatula         0.989          0.925          0.827          0              90             0              41
  30  Potato          0.476          0.950          1.180          0              90             0              41
  31  Knife           1.726          0.943          -1.545         0              180            0              45
  32  ButterKnife     1.501          0.910          1.004          0              90             0              41
  33  Bread           1.615          0.977          0.761          0              50.525         0              41
  34  Lettuce         0.856          0.989          1.120          0              270            1.529          41
  35  PepperShaker    1.586          0.906          -1.460         0              90             0              45
  36  Pot             1.807          0.909          -0.320         0              180            0              43
  37  DishSponge      1.805          2.136          0.842          0              0              0              49
  38  Spoon           1.165          0.750          -1.494         0              342.866        0              60
  39  Bowl            0.193          0.900          1.170          0              0              0              41
  40  Mug             0.502          0.940          -1.460         0              0              0              67
  41  CounterTop      0.989          0.946          1.016          0              90             0
  42  StoveBurner     1.807          0.907          0.075          0              180            0
  43  StoveBurner     1.807          0.907          -0.320         0              180            0
  44  StoveBurner     1.543          0.907          -0.320         0              90             0
  45  CounterTop      0.989          0.946          -1.516         0              90             0
  46  Sink            1.100          0.906          -1.599         0              0              0
  47  StoveBurner     1.548          0.907          0.075          0              180            0
  48  Cabinet         1.658          2.299          1.313          0              0              0
  49  Cabinet         1.658          2.299          0.686          0              0              0
  50  Cabinet         1.658          2.049          0.673          0              0              0
  51  Cabinet         1.658          2.059          0.193          0              0              0
  52  Cabinet         1.658          2.059          -0.593         0              0              0
  53  Cabinet         1.658          2.049          -0.606         0              0              0
  54  Cabinet         1.658          2.049          -1.206         0              0              0
  55  Cabinet         1.658          2.049          -1.893         0              0              0
  56  Toaster         0.131          0.900          -1.589         0              0              0
  57  Window          -0.372         1.588          3.349          90             0              0
  58  Window          0.782          1.741          -1.893         90             0              0
  59  GarbageCan      1.770          -0.029         1.685          0              270            0
  60  SinkBasin       1.091          0.740          -1.599         0              0              0
  61  StoveKnob       1.364          0.821          0.086          48.421         270            0
  62  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  65  Microwave       1.752          0.900          -0.843         0              270            0
  66  LightSwitch     2.0            1.261          3.094          0              270            0
  67  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  68  Fridge          -0.533         0.0            -1.554         0              0              0
  69  Chair           1.068          0.000          1.752          0              191.622        0
  70  Faucet          1.110          1.138          -1.764         0              270            0
  71  Chair           0.357          0.000          1.710          0              178.899        0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Move forward to the counter in front.  | STEP 2: Pick up the gray knife.  | STEP 3: Go around the counter and go to the sink on the opposite side. | STEP 4: Cut the apple on the left of the sink.  | STEP 5: Go right to the refrigerator. | STEP 6: Place the knife in the freezer. | STEP 7: Go back to the sink on the left.  | STEP 8: Take one piece of the apple.  | STEP 9: Go back to the refrigerator | STEP 10: Chill the piece of apple next to the whole apple in the refrigerator and take it out. | STEP 11: Turn left to go to the microwave on the counter.  | STEP 12: Place the apple inside the microwave.  | END