Task: Place a cold slice of apple 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           -0.5           0.899          0.5            0              180            0
   1  Pencil          -1.777         0.923          1.648          0              0              0              66
   2  WineBottle      -4.411         0.924          4.381          0              90             0              68
   3  Pot             -2.924         0.930          2.012          0              0              0              51
   4  Fork            -4.132         0.754          2.590          0              0              0              48
   5  Fork            -4.249         0.756          2.501          0              90             0              48
   6  Spoon           -4.377         0.924          1.648          0              0              0              68
   7  Spatula         -4.031         0.938          1.724          0              0              0              68
   8  Egg             -0.218         1.616          3.228          0              270            0              101
   9  Egg             -4.084         0.826          3.410          0              270            0              100
  10  Plate           -0.411         0.925          4.944          0              0              0              53
  11  Plate           -4.335         0.924          5.159          0              90             0              68
  12  Tomato          -0.411         0.982          4.615          0              0              0              53
  13  Tomato          -0.454         1.127          3.850          0              270            0              101
  14  Bowl            -0.488         0.922          5.273          0              0              0              53
  15  Lettuce         -0.401         1.165          3.603          0              270            0              101
  16  Lettuce         -1.860         1.018          1.724          0              0              0              50
  17  Bread           -0.301         1.660          3.349          0              270            0              101
  18  Egg             -2.740         1.582          1.601          0              0              0              98
  19  Apple           -4.486         0.976          3.863          0              90             0              68
  20  Knife           -3.255         0.953          5.182          0              90             0              68
  21  Potato          -2.740         1.579          1.698          0              0              0              98
  22  Fork            -1.777         0.924          1.875          0              90             0              50
  23  Bowl            -0.301         1.682          3.915          0              270            0              101
  24  Plate           -4.312         0.924          2.533          0              0              0              68
  25  Lettuce         -0.295         1.165          3.355          0              270            0              101
  26  Bread           -1.610         1.003          1.648          0              0              0              50
  27  Tomato          -4.233         0.848          3.222          0              270            0              100
  28  WineBottle      -3.639         0.069          6.457          0              270            0              94
  29  Spatula         -3.913         0.933          5.168          0              0              0              68
  30  PaperTowelRoll  -2.109         1.027          1.951          0              0              0              50
  31  Cup             -1.619         0.080          1.971          0              0              0              84
  32  Pencil          -0.104         0.925          4.615          0              0              0              53
  33  Pan             -2.454         0.933          2.023          0              240.000        0              56
  34  Pot             -2.469         0.930          1.712          0              270            0              83
  35  SaltShaker      -4.497         0.919          3.665          0              0              0              68
  36  SoapBottle      -3.748         0.068          6.375          0              270            0              94
  37  PepperShaker    -3.739         0.743          1.897          0              0              0              45
  38  ButterKnife     -4.312         0.923          2.183          0              0              0              68
  39  DishSponge      -0.488         0.924          5.932          0              0              0              53
  40  Spoon           -0.181         0.926          5.603          0              0              0              53
  41  Mug             -4.271         0.785          3.472          0              270            0              100
  42  Cabinet         -3.203         1.931          1.777          0              0              0
  43  Cabinet         -3.187         0.390          2.089          0              0              0
  44  Cabinet         -0.637         0.387          6.882          0              180            0
  45  Drawer          -3.797         0.781          1.961          0              0              0
  46  Cabinet         -3.036         0.387          5.029          0              90             0
  47  Drawer          -0.509         0.775          5.268          0              270            0
  48  Drawer          -4.125         0.798          2.499          0              0              0
  49  Cabinet         -0.331         2.249          4.308          0              180            0
  50  CounterTop      -1.872         0.958          1.799          0              0              0
  51  StoveBurner     -2.924         0.924          2.012          0              0              0
  52  Cabinet         -0.331         2.249          6.806          0              180            0
  53  CounterTop      -0.345         0.960          5.603          0              0              0
  54  Cabinet         -3.039         1.935          5.321          0              90             0
  55  Cabinet         -3.922         0.397          2.088          0              0              0
  56  StoveBurner     -2.467         0.924          2.012          0              0              0
  57  Cabinet         -0.331         2.249          5.505          0              180            0
  58  Drawer          -0.509         0.775          4.617          0              270            0
  59  Drawer          -3.509         0.777          5.157          0              180            0
  60  Cabinet         -3.961         0.388          2.878          0              0              0
  61  Cabinet         -3.961         0.388          4.342          0              0              0
  62  Cabinet         -0.637         0.387          5.582          0              180            0
  63  Cabinet         -0.637         0.388          4.299          0              180            0
  64  Cabinet         -0.637         0.388          5.599          0              180            0
  65  StoveBurner     -2.924         0.924          1.712          0              180            0
  66  Drawer          -1.859         0.775          1.961          0              0              0
  67  Cabinet         -0.331         2.249          5.609          0              180            0
  68  CounterTop      -4.260         0.958          4.943          0              90             0
  69  Cabinet         -4.284         1.931          2.226          0              0              0
  70  Cabinet         -0.331         2.249          3.010          0              180            0
  71  Drawer          -3.801         0.777          5.157          0              180            0
  72  Cabinet         -4.112         1.935          5.321          0              90             0
  73  Cabinet         -3.968         0.388          3.662          0              0              0
  74  Drawer          -3.418         0.777          1.961          0              0              0
  75  Drawer          -4.090         0.777          4.661          0              90             0
  76  Faucet          -4.441         0.909          3.288          270            0              0
  77  Cabinet         -0.331         2.249          4.207          0              180            0
  78  Cabinet         -3.961         0.388          2.119          0              0              0
  79  Drawer          -0.509         0.775          5.920          0              270            0
  80  Drawer          -3.193         0.777          5.157          0              180            0
  81  Cabinet         -3.968         0.388          2.894          0              0              0
  82  Cabinet         -3.667         0.387          5.029          0              90             0
  83  StoveBurner     -2.469         0.924          1.712          0              270            0
  84  Cabinet         -1.539         0.388          2.090          0              0              0
  85  Sink            -4.190         0.921          3.279          0              0              0
  86  Cabinet         -3.641         0.387          5.029          0              90             0
  87  Cabinet         -1.583         1.931          1.777          0              0              0
  88  Drawer          -0.509         0.775          6.568          0              270            0
  89  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  90  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  91  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  92  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  94  GarbageCan      -3.711         -0.030         6.376          0              270            0
  95  Toaster         -3.578         0.912          1.763          0              0              0
  96  Curtains        -4.522         2.252          3.391          90             90             0
  97  Window          -4.868         1.629          3.309          90             270            0
  98  Microwave       -2.693         1.430          1.689          0              0              0
  99  LightSwitch     -1.588         1.169          1.506          0              0              0
 100  SinkBasin       -4.196         0.780          3.276          0              270            0
 101  Fridge          -0.324         -0.001         3.602          0              0              0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn around and head straight, then turn left at the fridge to continue to stand at the counter left of the sink. | STEP 2: Pick up the butter knife from the sink. | STEP 3: Move to stand in front of the sink, which is to your right. | STEP 4: Slice the apple on the counter by the salt shaker to the right of the sink. | STEP 5: Turn and carry the knife to the fridge. | STEP 6: Place the knife in the fridge on the shelf next to the tomato. | STEP 7: Turn around and head back to the sliced apple on the counter by the sink. | STEP 8: Pick up a slice of apple from the counter.  | STEP 9: Turn around and carry the slice of apple to the fridge.  | STEP 10: Place the apple slice in the fridge on the shelf left of the tomato, close the door, and then remove after a few seconds.  | STEP 11: Turn around and after a couple steps, turn left to move to stand in front of the stove while carrying the apple slice.  | STEP 12: Place the apple slice in the microwave above the stove. | END