Task: Put clean apple inside 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           -0.5           0.900          2.5            0              270            0
   1  Pan             1.691          0.929          0.064          0              0              0              52
   2  ButterKnife     -0.211         0.910          1.764          0              0              0              41
   3  Kettle          -2.289         0.911          0.331          0              0              0              69
   4  Kettle          -2.567         1.939          -0.578         0              0              0              64
   5  Spatula         -2.227         0.788          0.070          0              270            0              59
   6  Egg             -2.206         0.941          1.830          0              0              0              69
   7  Plate           1.735          1.666          -0.550         0              0              0              61
   8  Plate           -2.289         0.913          1.230          0              0              0              69
   9  Tomato          0.048          0.953          1.317          0              0              0              41
  10  SoapBottle      -0.471         0.912          1.094          0              0              0              41
  11  SoapBottle      -2.310         0.116          -0.122         0              0              0              57
  12  Bowl            -2.420         0.591          -0.962         0              90             0              73
  13  PepperShaker    0.373          1.658          -1.693         0              90             0              48
  14  SaltShaker      1.428          0.905          -0.810         0              0              0              51
  15  SaltShaker      -2.273         0.109          0.076          0              0              0              57
  16  Apple           -2.393         1.362          -0.790         0              90             0              73
  17  Apple           -2.704         0.972          0.931          0              0              0              69
  18  Pan             1.412          0.929          -0.335         0              0              0              42
  19  Knife           -2.318         0.799          1.417          0              270            0              72
  20  Apple           1.604          0.246          0.706          0              0              0              80
  21  Bowl            -2.439         1.297          -0.979         0              90             0              73
  22  Fork            -0.601         0.911          1.317          0              0              0              41
  23  Bread           -2.538         0.996          0.031          0              0              0              69
  24  Plate           -2.372         0.913          1.530          0              0              0              69
  25  Egg             -2.538         1.028          2.380          0              90             0              81
  26  Kettle          1.411          0.929          0.064          0              0              0              70
  27  Potato          -0.471         0.947          0.423          0              0              0              41
  28  SaltShaker      1.855          0.906          0.376          0              0              0              50
  29  Lettuce         0.048          0.994          0.870          0              0              0              41
  30  Cup             -0.341         0.908          0.870          0              0              0              41
  31  SoapBottle      0.445          1.665          -1.802         0              90             0              48
  32  Spatula         -2.257         0.789          1.000          0              270            0              46
  33  PaperTowelRoll  1.426          1.015          0.465          0              0              0              50
  34  ButterKnife     1.599          0.910          -0.810         0              0              0              51
  35  PepperShaker    0.714          0.905          -1.426         0              45             0              51
  36  DishSponge      -0.471         0.910          1.317          0              0              0              41
  37  Pot             1.691          0.929          -0.335         0              0              0              49
  38  Spoon           0.915          0.912          -1.841         0              0              0              51
  39  Tomato          -2.455         0.953          0.631          0              0              0              69
  40  Mug             -2.685         1.532          1.119          0              90             0              54
  41  CounterTop      -0.360         0.946          1.093          0              0              0
  42  StoveBurner     1.412          0.923          -0.335         0              0              0
  43  StoveKnob       1.878          1.093          0.018          287.989        90             0
  44  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  45  Cabinet         -2.446         1.948          2.924          0              0              0
  46  Drawer          -2.276         0.792          0.902          0              0              0
  47  Cabinet         -2.145         0.402          1.578          0              0              0
  48  Cabinet         0.149          2.008          -1.603         0              90             0
  49  StoveBurner     1.691          0.923          -0.335         0              0              0
  50  CounterTop      1.585          0.946          0.405          0              0              0
  51  CounterTop      0.474          0.946          -1.625         0              0              0
  52  StoveBurner     1.691          0.923          0.064          0              0              0
  53  Cabinet         -2.446         1.948          1.687          0              0              0
  54  Cabinet         -2.446         1.948          1.640          0              0              0
  55  Sink            1.381          0.810          -1.271         0              225            0
  56  StoveKnob       1.878          1.093          0.150          287.989        90             0
  57  Cabinet         -2.145         0.402          -0.236         0              0              0
  58  Drawer          -2.276         0.792          0.437          0              0              0
  59  Drawer          -2.276         0.792          -0.027         0              0              0
  60  Cabinet         1.572          2.008          0.474          0              0              0
  61  Cabinet         1.572          2.008          -0.775         0              0              0
  62  Cabinet         -2.445         2.148          -1.275         0              0              0
  63  Cabinet         -2.446         2.148          -0.284         0              0              0
  64  Cabinet         -2.446         1.948          0.355          0              0              0
  65  Cabinet         -2.446         1.948          0.405          0              0              0
  66  Cabinet         -2.145         0.402          0.644          0              0              0
  67  Cabinet         -2.145         0.402          0.695          0              0              0
  68  Cabinet         -2.285         1.968          -1.325         0              180            0
  69  CounterTop      -1.485         0.946          1.319          0              0              0
  70  StoveBurner     1.411          0.923          0.064          0              0              0
  71  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  72  Drawer          -2.276         0.792          1.368          0              0              0
  73  Fridge          -2.475         0.0            -0.782         0              90             0
  74  LightSwitch     -0.929         1.350          -1.950         0              0              0
  75  Toaster         -2.564         0.900          1.876          0              90             0
  76  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  77  Window          1.508          1.534          -1.496         90             135            0
  78  Window          1.973          1.521          1.121          90             90             0
  79  SinkBasin       1.149          0.753          -1.380         0              225            0
  80  GarbageCan      1.646          -0.000         0.679          0              0              0
  81  Microwave       -2.580         0.900          2.440          0              90             0
  82  Stool           0.439          0.010          0.747          0              0              0
  83  Stool           -2.303         0.010          1.839          0              0              0
  84  Faucet          1.235          1.138          -1.473         0              225            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn around, go forward, hang a right, go to the counter, turn to the left to the counter between the sink and stove. | STEP 2: Pick up the butter knife that is on the counter behind the salt.  | STEP 3: Turn around, head to the fridge. | STEP 4: Use the knife to cut the apple that is inside the freezer, close the freezer. | STEP 5: Back up and lower the knife.  | STEP 6: Put the knife inside the freezer on the bottom shelf, close the freezer. | STEP 7: Move forward to the fridge. | STEP 8: Open the freezer, take a piece of the apple out of the freezer. | STEP 9: Turn around, head to the sink across the room. | STEP 10: Put the apple in the sink, rinse it off, then pick it back up. | STEP 11: Turn around, head right to the wall, take a left and go to the microwave. | STEP 12: Put the apple inside the microwave. | END