Task: To cool a piece of apple plus place 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           -1.25          0.900          -0.75          0              90             0
   1  DishSponge      0.445          1.663          -1.766         0              90             0              53
   2  DishSponge      0.780          0.910          -1.625         0              0              0              56
   3  Spatula         -0.601         0.925          0.647          0              0              0              46
   4  Cup             1.145          0.768          -1.376         0              225            0              84
   5  Cup             1.661          1.654          0.239          0              0              0              65
   6  Plate           -0.211         0.913          1.540          0              0              0              46
   7  Knife           -2.538         0.936          0.331          0              90             0              74
   8  Knife           -2.379         0.799          0.952          0              270            0              51
   9  Tomato          1.380          0.960          -1.212         0              225            0              60
  10  SoapBottle      -2.621         0.912          1.230          0              0              0              74
  11  Bowl            -0.471         0.908          1.764          0              0              0              46
  12  Bowl            -2.621         0.908          0.631          0              0              0              74
  13  PepperShaker    -0.730         0.905          1.540          0              0              0              46
  14  PepperShaker    1.365          0.905          -0.762         0              45             0              56
  15  SaltShaker      0.588          1.658          -1.729         0              90             0              53
  16  SaltShaker      1.807          1.651          0.313          0              0              0              65
  17  Lettuce         -0.471         0.994          0.870          0              0              0              46
  18  Bread           -2.372         0.996          1.230          0              0              0              74
  19  Mug             -2.635         1.010          2.278          0              90             0              86
  20  Mug             -2.621         0.905          0.331          0              0              0              74
  21  Apple           -0.081         0.972          1.317          0              0              0              46
  22  Apple           -2.206         0.972          0.631          0              0              0              74
  23  Pan             0.0            0.9            0.948          0              29.999         0              46
  24  Knife           -2.455         0.936          0.631          0              90             0              74
  25  Apple           1.341          0.972          0.435          0              0              0              55
  26  Bowl            -2.485         1.297          -0.979         0              90             0              78
  27  Fork            1.337          0.919          -1.115         0              225            0              60
  28  Bread           -2.206         0.996          0.931          0              0              0              74
  29  Plate           -2.351         0.900          0.054          0              0              0              74
  30  Egg             -2.289         0.941          0.331          0              0              0              74
  31  Kettle          1.691          0.929          0.064          0              0              0              57
  32  Potato          1.275          0.954          -1.107         0              225            0              60
  33  SaltShaker      -2.206         0.905          1.230          0              0              0              74
  34  Lettuce         -2.289         0.994          1.530          0              0              0              74
  35  Cup             -2.677         1.535          0.485          0              0              0              70
  36  SoapBottle      1.598          0.913          0.435          0              0              0              55
  37  Spatula         -0.211         0.925          0.423          0              0              0              46
  38  PaperTowelRoll  -0.341         1.015          1.764          0              90             0              46
  39  ButterKnife     -2.621         0.910          1.530          0              0              0              74
  40  PepperShaker    -0.211         0.905          0.647          0              0              0              46
  41  DishSponge      -2.318         0.772          -0.121         0              0              0              64
  42  Pot             1.411          0.929          0.064          0              0              0              75
  43  Spoon           -0.601         0.912          1.764          0              0              0              46
  44  Tomato          -0.341         0.953          1.094          0              0              0              46
  45  Mug             0.464          0.955          -1.593         0              0              0              56
  46  CounterTop      -0.360         0.946          1.093          0              0              0
  47  StoveBurner     1.412          0.923          -0.335         0              0              0
  48  StoveKnob       1.878          1.093          0.018          287.989        90             0
  49  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  50  Cabinet         -2.446         1.948          2.924          0              0              0
  51  Drawer          -2.276         0.792          0.902          0              0              0
  52  Cabinet         -2.145         0.402          1.578          0              0              0
  53  Cabinet         0.149          2.008          -1.603         0              90             0
  54  StoveBurner     1.691          0.923          -0.335         0              0              0
  55  CounterTop      1.585          0.946          0.405          0              0              0
  56  CounterTop      0.474          0.946          -1.625         0              0              0
  57  StoveBurner     1.691          0.923          0.064          0              0              0
  58  Cabinet         -2.446         1.948          1.687          0              0              0
  59  Cabinet         -2.446         1.948          1.640          0              0              0
  60  Sink            1.381          0.810          -1.271         0              225            0
  61  StoveKnob       1.878          1.093          0.150          287.989        90             0
  62  Cabinet         -2.145         0.402          -0.236         0              0              0
  63  Drawer          -2.276         0.792          0.437          0              0              0
  64  Drawer          -2.276         0.792          -0.027         0              0              0
  65  Cabinet         1.572          2.008          0.474          0              0              0
  66  Cabinet         1.572          2.008          -0.775         0              0              0
  67  Cabinet         -2.445         2.148          -1.275         0              0              0
  68  Cabinet         -2.446         2.148          -0.284         0              0              0
  69  Cabinet         -2.446         1.948          0.355          0              0              0
  70  Cabinet         -2.446         1.948          0.405          0              0              0
  71  Cabinet         -2.145         0.402          0.644          0              0              0
  72  Cabinet         -2.145         0.402          0.695          0              0              0
  73  Cabinet         -2.285         1.968          -1.325         0              180            0
  74  CounterTop      -1.485         0.946          1.319          0              0              0
  75  StoveBurner     1.411          0.923          0.064          0              0              0
  76  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  77  Drawer          -2.276         0.792          1.368          0              0              0
  78  Fridge          -2.475         0.0            -0.782         0              90             0
  79  LightSwitch     -0.929         1.350          -1.950         0              0              0
  80  Toaster         -2.564         0.900          1.876          0              90             0
  81  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  82  Window          1.508          1.534          -1.496         90             135            0
  83  Window          1.973          1.521          1.121          90             90             0
  84  SinkBasin       1.149          0.753          -1.380         0              225            0
  85  GarbageCan      1.646          -0.000         0.679          0              0              0
  86  Microwave       -2.580         0.900          2.440          0              90             0
  87  Stool           0.439          0.010          0.747          0              0              0
  88  Stool           -2.303         0.010          1.839          0              0              0
  89  Faucet          1.235          1.138          -1.473         0              225            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn around and step forward to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Look down to face the apple on the counter. | STEP 4: Cut the apple on the counter into three pieces. | STEP 5: Step to the right to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Step right to face the apple on the counter. | STEP 8: Pick up a piece of apple on the counter. | STEP 9: Step left to face the fridge. | STEP 10: Cool the piece of apple in the fridge and remove it. | STEP 11: Turn right and cross the room and turn left to face the microwave. | STEP 12: Place the piece of apple in the microwave. | END