Task: Slice an apple in the trash can and cook a piece of it 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           0.0            0.869          -0.25          0              0              0
   1  Potato          -1.843         0.832          -3.705         0              0              0              73
   2  Potato          0.729          0.916          0.098          0              0              0              51
   3  DishSponge      0.715          0.772          -0.790         0              270            0              74
   4  DishSponge      0.621          0.015          -0.833         0              0              0              54
   5  ButterKnife     -1.803         0.701          -1.524         0              0              0              87
   6  ButterKnife     0.655          0.883          0.029          0              0              0              51
   7  Spatula         -1.578         0.711          -3.782         0              90             0              78
   8  Spoon           1.024          0.884          0.029          0              90             0              51
   9  Spoon           0.721          0.665          0.448          0              180            0              56
  10  Fork            0.769          0.761          -0.061         0              90             0              50
  11  Fork            -1.886         0.702          -1.307         0              0              0              87
  12  Egg             0.883          0.809          -0.625         0              270            0              74
  13  Egg             0.785          1.195          -2.113         0              270            0              71
  14  Cup             -0.051         0.899          1.187          0              270            0              77
  15  Cup             -0.654         0.899          0.758          0              270            0              77
  16  Knife           0.574          0.783          0.002          0              270            0              50
  17  Knife           0.961          0.688          0.387          0              90             0              56
  18  Tomato          -1.224         0.100          -3.574         0              270            0              66
  19  Tomato          -1.803         0.750          -0.983         0              0              0              87
  20  SoapBottle      0.661          0.663          0.448          0              0              0              56
  21  Bowl            0.858          1.462          0.473          0              0              0              63
  22  Bread           -1.719         0.745          -1.199         0              0              0              87
  23  Bread           0.149          0.944          1.015          0              270            0              77
  24  Lettuce         0.841          0.752          0.569          0              0              0              56
  25  Lettuce         0.785          1.461          -1.802         0              270            0              71
  26  Mug             0.566          0.010          -0.702         0              270            0              54
  27  Apple           0.672          0.826          -0.625         0              270            0              74
  28  Apple           0.841          0.826          -0.515         0              270            0              74
  29  Pot             -2.097         0.930          1.049          0              0              0              58
  30  Plate           0.787          0.019          -0.184         0              0              0              61
  31  Fork            0.720          0.760          0.002          0              270            0              50
  32  SoapBottle      -2.137         0.701          -1.199         0              0              0              87
  33  Apple           -1.334         0.105          -3.647         0              270            0              66
  34  Pan             -1.552         0.930          0.785          0              0              0              55
  35  Egg             0.799          0.809          -0.625         0              270            0              74
  36  Spatula         0.671          0.775          -0.061         0              270            0              50
  37  Potato          0.729          0.916          -0.039         0              0              0              51
  38  Cup             0.950          0.882          -0.108         0              0              0              51
  39  SaltShaker      0.858          1.460          0.288          0              0              0              63
  40  PepperShaker    0.812          1.460          0.039          0              0              0              62
  41  ButterKnife     0.754          0.755          -0.743         0              45             0              74
  42  DishSponge      0.842          0.015          -0.833         0              0              0              54
  43  Bread           -0.873         0.931          0.978          0              24.231         0              77
  44  Lettuce         0.785          0.751          -2.035         0              270            0              71
  45  Tomato          0.635          0.234          -1.802         0              270            0              71
  46  Spoon           0.721          0.666          0.569          0              180            0              56
  47  Knife           0.817          0.782          0.002          0              270            0              50
  48  Mug             0.799          0.767          -0.735         0              270            0              74
  49  Bowl            -2.038         0.691          -1.003         0              0              0              87
  50  Drawer          0.706          0.766          -0.125         0              0              0
  51  CounterTop      0.792          0.919          -0.108         0              0              0
  52  Mirror          1.093          1.602          -0.643         0              0              0
  53  StoveBurner     -2.096         0.890          0.785          0              0              0
  54  Cabinet         0.507          0.345          -0.426         0              0              0
  55  StoveBurner     -1.552         0.890          0.785          0              0              0
  56  SideTable       0.770          -0.030         0.443          0              0              0
  57  Sink            0.753          0.882          -0.680         0              0              0
  58  StoveBurner     -2.096         0.890          1.049          0              0              0
  59  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  60  StoveBurner     -1.554         0.890          1.049          0              0              0
  61  Cabinet         0.507          0.345          0.156          0              0              0
  62  Cabinet         0.717          1.822          -0.398         0              0              0
  63  Cabinet         0.717          1.822          0.669          0              0              0
  64  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  65  Toaster         -0.522         0.886          1.081          0              180            0
  66  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  67  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  68  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  69  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  70  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  71  Fridge          0.680          -0.031         -1.957         0              0              0
  72  Window          -2.424         1.639          -2.453         90             270            0
  73  Microwave       -1.994         0.690          -3.651         0              0              0
  74  SinkBasin       0.757          0.762          -0.688         0              270            0
  75  LightSwitch     1.102          1.368          -3.737         0              270            0
  76  Shelf           -0.350         0.124          0.857          0              0              0
  77  DiningTable     -0.350         -0.025         0.857          0              0              0
  78  DiningTable     -1.909         -0.032         -3.507         0              0              0
  79  Blinds          -2.343         2.151          -2.437         0              270            0
  80  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  81  AluminumFoil    0.751          0.225          0.287          0              0              0
  82  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  83  Shelf           0.771          0.226          0.445          0              0              0
  84  Shelf           0.771          0.456          0.446          0              0              0
  85  Faucet          1.025          0.873          -0.678         270            180            0
  86  Shelf           -0.350         0.497          0.857          0              0              0
  87  DiningTable     -1.929         -0.035         -1.398         0              90             0
  88  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn around and walk towards the fridge on the left, then turn right and walk to the kitchen table. | STEP 2: Pick up the knife on the left side of the table. | STEP 3: Turn around, step forward, turn right, go to the end and turn right to face to a trash can with an apple in it. | STEP 4: Slice the apple inside the trash can in thirds.. | STEP 5: Slice the right edge of the apple. | STEP 6: Pick up the center piece of the sliced apple. | STEP 7: Turn right, step forward, then turn left and go to the end where there will be a microwave on the left. | STEP 8: Open the microwave, put the apple slice inside and turn on . Wait till it finishes cooking, then remove. | STEP 9: Take a step back from the table. | STEP 10: Place the apple slice on the left side of the table. | END