Task: Microwave a cut apple and put it on a black table.

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          0.869          -1.25          0              270            0
   1  ButterKnife     0.877          0.883          0.098          0              0              0              35
   2  Spoon           0.877          0.884          0.098          0              0              0              35
   3  Spoon           0.799          0.773          -0.735         0              270            0              58
   4  Pot             -2.097         0.930          0.785          0              0              0              37
   5  Knife           0.961          0.687          0.448          0              90             0              40
   6  SoapBottle      -1.970         0.701          -1.199         0              0              0              71
   7  PepperShaker    0.601          0.661          0.630          0              0              0              40
   8  PepperShaker    0.803          0.879          -0.176         0              0              0              35
   9  Bread           -0.252         0.944          0.843          0              270            0              61
  10  Bread           -1.719         0.745          -1.199         0              0              0              71
  11  Mug             0.901          0.660          0.630          0              0              0              40
  12  Apple           0.841          0.826          -0.515         0              270            0              58
  13  Pot             -1.552         0.930          0.785          0              0              0              39
  14  Plate           0.732          0.019          -0.184         0              0              0              45
  15  Fork            -1.803         0.702          -1.307         0              0              0              71
  16  SoapBottle      -1.297         0.051          -3.647         0              270            0              50
  17  Apple           0.661          0.718          0.265          0              0              0              40
  18  Pan             0.740          -0.007         -0.596         0              0              0              38
  19  Egg             0.883          0.809          -0.735         0              270            0              58
  20  Spatula         0.877          0.898          -0.039         0              270            0              35
  21  Potato          0.901          0.698          0.387          0              90             0              40
  22  Cup             -0.855         0.899          1.187          0              270            0              61
  23  SaltShaker      0.566          0.012          -0.571         0              0              0              38
  24  PepperShaker    0.841          0.661          0.448          0              0              0              40
  25  ButterKnife     0.720          0.759          -0.061         0              0              0              34
  26  DishSponge      0.661          0.664          0.508          0              0              0              40
  27  Bread           -0.873         0.931          0.978          0              24.231         0              61
  28  Lettuce         -0.252         0.987          1.187          0              270            0              61
  29  Tomato          0.672          0.820          -0.735         0              270            0              58
  30  Spoon           0.149          0.901          0.929          0              270            0              61
  31  Knife           0.574          0.783          -0.188         0              90             0              34
  32  Mug             0.672          0.767          -0.570         0              0              0              58
  33  Bowl            -2.038         0.691          -1.003         0              0              0              71
  34  Drawer          0.706          0.766          -0.125         0              0              0
  35  CounterTop      0.792          0.919          -0.108         0              0              0
  36  Mirror          1.093          1.602          -0.643         0              0              0
  37  StoveBurner     -2.096         0.890          0.785          0              0              0
  38  Cabinet         0.507          0.345          -0.426         0              0              0
  39  StoveBurner     -1.552         0.890          0.785          0              0              0
  40  SideTable       0.770          -0.030         0.443          0              0              0
  41  Sink            0.753          0.882          -0.680         0              0              0
  42  StoveBurner     -2.096         0.890          1.049          0              0              0
  43  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  44  StoveBurner     -1.554         0.890          1.049          0              0              0
  45  Cabinet         0.507          0.345          0.156          0              0              0
  46  Cabinet         0.717          1.822          -0.398         0              0              0
  47  Cabinet         0.717          1.822          0.669          0              0              0
  48  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  49  Toaster         -0.522         0.886          1.081          0              180            0
  50  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  51  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  52  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  53  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  54  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  55  Fridge          0.680          -0.031         -1.957         0              0              0
  56  Window          -2.424         1.639          -2.453         90             270            0
  57  Microwave       -1.994         0.690          -3.651         0              0              0
  58  SinkBasin       0.757          0.762          -0.688         0              270            0
  59  LightSwitch     1.102          1.368          -3.737         0              270            0
  60  Shelf           -0.350         0.124          0.857          0              0              0
  61  DiningTable     -0.350         -0.025         0.857          0              0              0
  62  DiningTable     -1.909         -0.032         -3.507         0              0              0
  63  Blinds          -2.343         2.151          -2.437         0              270            0
  64  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  65  AluminumFoil    0.751          0.225          0.287          0              0              0
  66  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  67  Shelf           0.771          0.226          0.445          0              0              0
  68  Shelf           0.771          0.456          0.446          0              0              0
  69  Faucet          1.025          0.873          -0.678         270            180            0
  70  Shelf           -0.350         0.497          0.857          0              0              0
  71  DiningTable     -1.929         -0.035         -1.398         0              90             0
  72  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Turn right, turn right again, walk towards the small black table | STEP 2: Pick up the knife with the yellow handle | STEP 3: Cut the apple on the table into slices | STEP 4: Turn right, walk straight, turn left towards the sink | STEP 5: Cut the apple inside the sink into slices | STEP 6: Put the knife inside the sink | STEP 7: Pick up a slice of the cut apple | STEP 8: Turn right, walk straight, turn left, walk towards the table with a white microwave | STEP 9: Open the microwave, put the apple inside, set the timer, open the microwave, take the apple, close the microwave | STEP 10: Turn left, turn left again, turn right towards the small black table | STEP 11: Put the apple on the small black table | END