Task: Microwave a slice of apple and place with bread.

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           0.900          -1.0           0              90             0
   1  Potato          1.420          1.762          1.901          0              270            0              85
   2  Potato          1.453          1.762          1.650          0              270            0              85
   3  DishSponge      1.283          1.655          -0.658         0              0              0              54
   4  DishSponge      1.420          0.214          1.108          0              0              0              83
   5  Spoon           1.002          0.774          0.431          0              0              0              43
   6  Spoon           -0.344         0.775          -1.500         0              270            0              65
   7  Pot             -1.081         0.949          -1.81          0              0              0              62
   8  Plate           1.093          0.115          -1.129         0              0              0              51
   9  Plate           0.889          1.656          -1.839         0              0              0              55
  10  Knife           0.217          0.949          -1.657         0              270            0              45
  11  Knife           0.946          0.941          -1.534         0              0              0              66
  12  Tomato          1.325          1.407          2.476          0              270            0              85
  13  Bowl            -0.530         1.656          -1.839         0              0              0              48
  14  SaltShaker      -1.712         0.905          0.204          0              0              0              68
  15  Lettuce         1.494          1.231          -1.688         0              0              0              72
  16  Mug             -0.703         0.906          -1.704         0              0              0              66
  17  Tomato          1.332          1.857          2.557          0              270            0              85
  18  Glassbottle     1.476          1.368          2.350          0              270            0              85
  19  Knife           -2.201         0.940          0.032          0              0              0              68
  20  Plate           -1.957         0.911          0.377          0              0              0              68
  21  Fork            -1.886         0.911          -1.707         0              0              0              64
  22  Ladle           -0.477         0.955          -1.619         0              0              0              66
  23  Potato          -2.079         0.952          0.204          0              0              0              68
  24  Lettuce         1.375          1.436          1.976          0              270            0              85
  25  Kettle          0.770          0.9            -1.836         0              0              0              66
  26  Pen             0.969          0.777          0.323          0              0              0              43
  27  SaltShaker      1.375          1.157          -1.345         0              0              0              72
  28  Cup             1.453          1.720          1.775          0              270            0              85
  29  Egg             1.296          1.191          0.370          0              0              0              72
  30  Spatula         1.533          1.177          -0.659         0              90             0              72
  31  Bowl            0.528          0.117          -1.537         0              90             0              60
  32  SprayBottle     1.052          1.654          -1.801         0              0              0              55
  33  Pan             -1.079         0.945          -1.528         0              0              0              67
  34  SoapBottle      1.375          1.162          -1.002         0              0              0              72
  35  Pot             -2.323         0.912          0.204          0              0              0              68
  36  ButterKnife     -1.957         0.910          0.118          0              0              0              68
  37  PepperShaker    1.335          1.157          -1.688         0              0              0              72
  38  DishSponge      -1.712         0.910          0.463          0              0              0              68
  39  Bread           -2.039         0.988          -1.534         0              0              0              64
  40  Apple           0.285          0.954          -1.808         0              270            0              45
  41  Spoon           -1.765         0.775          -1.500         0              270            0              71
  42  Mug             -0.086         0.777          -1.707         0              270            0              87
  43  Drawer          0.860          0.75           0.430          0              0              0
  44  Drawer          0.871          0.75           -1.134         0              0              0
  45  Sink            0.156          0.817          -1.801         0              270            0
  46  Cabinet         -0.868         2.005          -1.690         0              0              0
  47  Cabinet         -1.661         2.059          -1.684         0              90             0
  48  Cabinet         -0.817         2.059          -1.689         0              0              0
  49  Cabinet         0.860          0.402          0.665          0              0              0
  50  Cabinet         0.860          0.402          -0.552         0              0              0
  51  Cabinet         0.860          0.402          -1.365         0              0              0
  52  Cabinet         -0.244         0.402          -1.389         0              0              0
  53  Cabinet         -0.815         0.402          -1.389         0              0              0
  54  Cabinet         1.159          2.059          -0.334         0              0              0
  55  Cabinet         0.488          2.059          -1.689         0              0              0
  56  Cabinet         -0.193         2.059          -1.689         0              0              0
  57  Drawer          0.860          0.75           -0.699         0              0              0
  58  Cabinet         1.159          2.059          -1.019         0              0              0
  59  Cabinet         -1.611         2.005          -1.690         0              0              0
  60  Cabinet         0.832          0.401          -1.393         0              90             0
  61  Drawer          -2.105         0.75           -1.389         0              0              0
  62  StoveBurner     -1.081         0.941          -1.809         0              0              0
  63  Cabinet         -0.202         0.401          -1.391         0              90             0
  64  CounterTop      -1.973         0.945          -1.707         0              0              0
  65  Drawer          -0.375         0.75           -1.389         0              0              0
  66  CounterTop      1.164          0.946          -0.649         0              0              0
  67  StoveBurner     -1.081         0.941          -1.527         0              0              0
  68  CounterTop      -2.096         0.945          0.291          0              0              0
  69  Cabinet         -2.237         0.402          -1.389         0              0              0
  70  Drawer          0.584          0.75           -1.389         0              0              0
  71  Drawer          -1.795         0.75           -1.389         0              0              0
  72  CounterTop      1.5            1.197          -0.654         0              0              0
  73  Cabinet         -1.667         0.402          -1.389         0              0              0
  74  StoveBurner     -1.430         0.941          -1.525         0              0              0
  75  Drawer          -0.685         0.75           -1.389         0              0              0
  76  StoveBurner     -1.430         0.941          -1.809         0              0              0
  77  LightSwitch     -2.539         1.289          2.568          0              90             0
  78  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  79  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  80  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  81  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  82  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  83  GarbageCan      1.343          0.015          1.041          0              0              0
  84  HousePlant      1.440          1.153          0.593          0              0              0
  85  Fridge          1.417          0.0            2.101          0              0              0
  86  Window          -0.486         1.452          3.302          90             0              0
  87  SinkBasin       -0.063         0.765          -1.713         0              270            0
  88  Microwave       1.422          1.150          0.022          0              270            0
  89  Toaster         -2.066         0.900          -1.848         0              0              0
  90  Stool           -1.994         0.010          0.882          0              0              0
  91  Faucet          -0.096         1.041          -1.867         0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Walk straight, turn right at sink. | STEP 2: Pick up the knife next to the apple. | STEP 3: Make 2 slices in the apple. | STEP 4: Turn around, walk to microwave, turn right to face microwave. | STEP 5: Open microwave door, place knife inside. | STEP 6: Close microwave door, turn around 3/4 walk to counter with apple. | STEP 7: Pick up 1 slice of apple. | STEP 8: Turn around, walk to microwave, turn right to face microwave. | STEP 9: Open microwave door, place apple inside, close door, activate microwave for 3 seconds, open door, remove apple, close door. | STEP 10: Turn around, walk across kitchen to counter with toaster. | STEP 11: Place apple next to bread loaf. | END