Task: Place a cold apple slice in the microwave next to the mug.

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          -1.5           0              90             0
   1  Pencil          -0.361         0.747          -3.238         0              90             0              65
   2  DishSponge      -2.552         0.923          -0.963         0              0              0              79
   3  ButterKnife     -2.438         0.923          -1.423         0              0              0              79
   4  ButterKnife     -2.438         0.923          -2.115         0              0              0              79
   5  WineBottle      -1.912         0.027          -3.690         0              0              0              70
   6  WineBottle      -0.508         0.916          -3.368         0              0              0              54
   7  Spatula         -2.438         0.938          -2.345         0              180            0              79
   8  Spatula         -2.324         0.938          -1.884         0              0              0              79
   9  Spoon           -2.096         0.924          -1.884         0              90             0              79
  10  Spoon           -2.096         0.924          -1.423         0              0              0              79
  11  Plate           -2.552         0.925          -1.193         0              0              0              79
  12  Plate           -0.383         0.083          -2.247         0              0              0              59
  13  Cup             -0.211         1.526          -3.230         0              0              0              66
  14  Egg             -2.210         0.956          -1.654         0              0              0              79
  15  SoapBottle      -0.671         0.914          -3.485         0              0              0              54
  16  Bowl            -0.436         0.914          -3.570         0              0              0              54
  17  Bowl            -0.357         1.529          -3.644         0              45             0              62
  18  SaltShaker      -0.528         0.912          -3.909         0              0              0              54
  19  SaltShaker      -0.807         0.743          -3.615         0              0              0              53
  20  PepperShaker    -0.205         1.966          -2.192         0              0              0              61
  21  PepperShaker    -2.324         0.919          -1.423         0              0              0              79
  22  Mug             -1.257         1.625          -3.936         0              90             0              67
  23  Mug             -0.388         1.685          -0.874         0              270            0              71
  24  Apple           -0.254         0.870          -1.934         0              270            0              72
  25  Lettuce         -0.392         1.483          -0.979         0              270            0              71
  26  Glassbottle     -0.343         0.081          -3.330         0              0              0              60
  27  Egg             -2.210         0.956          -1.884         0              0              0              79
  28  Pen             -0.600         0.918          -3.485         0              0              0              54
  29  Fork            -2.666         0.924          -1.654         0              0              0              79
  30  SoapBottle      -2.666         0.922          -1.884         0              0              0              79
  31  Pencil          -1.975         0.027          -3.799         0              0              0              70
  32  WineBottle      -0.222         0.916          -3.771         0              0              0              54
  33  Spatula         -0.815         0.930          -3.697         0              90             0              54
  34  Bread           -2.666         0.976          -2.345         0              0              0              79
  35  Tomato          -0.343         1.162          -0.874         0              270            0              71
  36  Pan             -1.515         0.935          -3.752         0              90             0              50
  37  Cup             -0.422         0.080          -1.712         0              0              0              49
  38  Pot             -1.129         0.935          -3.498         0              0              0              52
  39  SaltShaker      -2.438         0.919          -0.963         0              0              0              79
  40  Potato          -2.438         0.954          -1.654         0              0              0              79
  41  PepperShaker    -0.457         0.912          -3.839         0              0              0              54
  42  ButterKnife     -0.600         0.915          -3.697         0              0              0              54
  43  DishSponge      -0.420         0.746          -3.297         0              0              0              65
  44  Spoon           -2.324         0.924          -1.193         0              0              0              79
  45  Plate           -0.343         1.393          -0.560         0              270            0              71
  46  Knife           -2.210         0.946          -1.423         0              0              0              79
  47  Mug             -0.344         0.076          -2.063         0              270            0              49
  48  Bowl            -0.348         1.689          -0.665         0              270            0              71
  49  Cabinet         -0.582         0.388          -1.804         0              0              0
  50  StoveBurner     -1.515         0.928          -3.752         0              90             0
  51  StoveBurner     -1.515         0.928          -3.497         0              0              0
  52  StoveBurner     -1.129         0.928          -3.498         0              0              0
  53  Drawer          -0.749         0.779          -3.551         0              0              0
  54  CounterTop      -0.303         0.951          -2.793         0              0              0
  55  Cabinet         -0.883         2.140          -3.687         0              0              0
  56  Cabinet         -0.312         2.140          -1.543         0              0              0
  57  Sink            -0.349         0.907          -2.014         0              0              0
  58  Cabinet         -0.877         0.388          -3.422         0              0              0
  59  Cabinet         -0.582         0.388          -2.197         0              0              0
  60  Cabinet         -0.584         0.388          -3.396         0              0              0
  61  Cabinet         -0.312         2.140          -2.481         0              0              0
  62  Cabinet         -0.330         1.921          -3.390         0              0              0
  63  Cabinet         -1.764         2.140          -3.687         0              0              0
  64  StoveBurner     -1.129         0.928          -3.752         0              90             0
  65  Drawer          -0.454         0.779          -3.268         0              0              0
  66  Cabinet         -0.302         1.916          -2.501         0              0              0
  67  Microwave       -1.317         1.517          -3.801         0              1.440          0
  68  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  69  LightSwitch     -4.323         1.319          0.0            0              180            0
  70  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  71  Fridge          -0.330         0.0            -0.769         0              270            0
  72  SinkBasin       -0.350         0.786          -2.018         0              270            0
  73  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  77  Toaster         -0.181         0.903          -2.764         0              270            0
  78  Window          -2.503         1.782          -4.185         90             180            0
  79  DiningTable     -2.432         0.000          -1.694         0              270            0
  80  Shelf           -2.432         0.150          -1.694         0              270            0
  81  Blinds          -2.536         2.699          -3.959         0              0              0
  82  Faucet          -0.079         0.904          -2.034         270            180            0
  83  Chair           -3.264         0.002          -2.094         0              53.280         0
  84  Chair           -3.240         0.002          -1.253         0              117.257        0
  85  Shelf           -2.432         0.523          -1.694         0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around to face the table. | STEP 2: Pick up the butter knife on the table behind the salt shaker. | STEP 3: Turn around and walk to the sink. | STEP 4: Use the knife to slice the apple in the sink. | STEP 5: Turn left and walk to the fridge. | STEP 6: Open the bottom drawer of the fridge, place the knife inside, and then close it. | STEP 7: Turn right and walk back to the sink. | STEP 8: Take a slice of apple out of the sink. | STEP 9: Turn left and walk back to the fridge. | STEP 10: Open the bottom drawer of the fridge and place the apple slice inside, close the drawer, wait 5 seconds then open the drawer and take the apple slice back out. | STEP 11: Turn around then turn left and walk across the room to the microwave. | STEP 12: Open the microwave, put the apple slice inside next to the mug, and then close it. | END