Task: Place a chilled apple into a 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           0.900          2.25           0              90             0
   1  Ladle           0.889          0.955          -1.415         0              0              0              70
   2  Ladle           -0.106         0.969          0.506          0              0              0              78
   3  Kettle          -0.106         0.926          0.041          0              0              0              78
   4  DishSponge      -1.764         1.661          -0.980         0              90             0              57
   5  DishSponge      1.713          0.469          0.116          0              0              0              66
   6  ButterKnife     1.710          0.695          -0.080         0              0              0              54
   7  Fork            1.658          0.583          -0.238         0              0              0              55
   8  Spoon           -1.727         0.912          -0.914         0              0              0              70
   9  Spoon           -0.175         0.761          -1.380         0              0              0              94
  10  Egg             -1.750         1.526          -0.269         0              90             0              93
  11  Egg             -1.648         0.896          0.295          0              90             0              93
  12  Cup             -0.261         0.758          -1.380         0              0              0              94
  13  Cup             0.107          0.923          0.273          0              0              0              78
  14  Plate           -1.750         1.467          0.201          0              90             0              93
  15  Plate           0.107          0.924          0.506          0              0              0              78
  16  SoapBottle      -1.841         1.665          -1.131         0              90             0              57
  17  Tomato          2.073          0.966          1.032          0              0              0              70
  18  Bowl            1.095          1.678          -1.614         0              0              0              69
  19  SaltShaker      0.000          0.921          1.202          0              0              0              78
  20  Lettuce         -0.213         1.002          -0.190         0              0              0              78
  21  Mug             0.170          0.755          -1.546         0              0              0              94
  22  Mug             1.355          0.955          -1.362         0              0              0              92
  23  Apple           -0.088         0.813          -1.324         0              0              0              94
  24  Apple           0.083          0.813          -1.380         0              0              0              94
  25  SoapBottle      -0.320         0.929          0.738          0              0              0              78
  26  Cup             0.321          0.923          1.202          0              0              0              78
  27  Pot             1.975          0.938          0.601          0              180            0              65
  28  Fork            0.661          0.912          -1.610         0              0              0              51
  29  Ladle           1.764          0.391          0.599          0              0              0              64
  30  Kettle          2.001          1.660          -1.204         0              270            0              58
  31  Egg             -1.796         0.098          1.247          0              270            0              84
  32  Plate           0.000          0.924          0.970          0              0              0              78
  33  Pan             -1.286         0.9            -1.348         0              79.769         0              70
  34  Lettuce         -0.213         1.002          0.970          0              0              0              78
  35  Spatula         0.107          0.940          -0.190         0              0              0              78
  36  Apple           1.892          1.059          -0.599         0              270            0              91
  37  Knife           1.117          0.933          -1.513         0              0              0              70
  38  SaltShaker      -1.463         0.907          -1.113         0              0              0              70
  39  PepperShaker    -1.462         0.907          -1.513         0              0              0              70
  40  CellPhone       1.764          0.457          0.599          0              0              0              74
  41  ButterKnife     -1.874         0.911          -1.318         0              0              0              70
  42  Bread           0.321          1.006          0.970          0              0              0              78
  43  Tomato          -1.692         0.618          -0.081         0              90             0              93
  44  Potato          -0.261         0.784          -1.490         0              0              0              94
  45  DishSponge      1.824          0.582          0.125          0              270            0              55
  46  Spoon           1.603          0.584          0.052          0              180            0              55
  47  Mug             -0.088         0.755          -1.490         0              0              0              94
  48  Bowl            0.214          0.924          0.738          0              0              0              78
  49  Cabinet         -0.495         0.474          -1.149         0              0              0
  50  Window          -0.010         1.582          -1.821         0              0              0
  51  Drawer          0.805          0.475          -1.159         0              0              0
  52  StoveBurner     1.764          0.902          0.601          0              270            0
  53  Drawer          1.5            0.196          -0.019         0              0              0
  54  Drawer          1.5            0.629          -0.018         0              0              0
  55  Drawer          1.5            0.602          -0.019         0              270            0
  56  StoveBurner     1.975          0.902          0.384          0              270            0
  57  Cabinet         -1.703         2.022          -1.453         0              90             0
  58  Cabinet         1.789          2.019          -0.819         0              270            0
  59  Cabinet         0.494          0.474          -1.149         0              0              0
  60  Cabinet         0.409          0.475          0.444          0              0              0
  61  Drawer          -0.696         0.475          -1.159         0              0              0
  62  Drawer          1.5            0.140          0.599          0              270            0
  63  Cabinet         1.389          0.474          -1.149         0              0              0
  64  Drawer          1.5            0.305          0.600          0              0              0
  65  StoveBurner     1.975          0.902          0.601          0              270            0
  66  Drawer          1.5            0.429          -0.019         0              0              0
  67  StoveBurner     1.764          0.902          0.819          0              270            0
  68  Drawer          1.5            0.519          1.220          0              0              0
  69  Cabinet         1.705          2.019          -1.449         0              0              0
  70  CounterTop      0.002          0.947          -1.513         0              0              0
  71  Drawer          1.5            0.629          0.605          0              0              0
  72  Cabinet         -0.627         2.019          -1.449         0              0              0
  73  StoveBurner     1.764          0.902          0.384          0              270            0
  74  Drawer          1.5            0.538          0.600          0              0              0
  75  Sink            0.0            0.893          -1.434         0              0              0
  76  Drawer          1.5            0.782          1.220          0              270            0
  77  Window          2.217          1.565          -0.384         0              0              0
  78  CounterTop      -0.014         0.961          0.505          0              0              0
  79  Drawer          1.5            0.200          1.220          0              0              0
  80  StoveBurner     1.975          0.902          0.819          0              270            0
  81  Window          -3.240         1.616          2.693          0              270            0
  82  Cabinet         -1.389         0.474          -1.149         0              0              0
  83  LightSwitch     -0.153         1.291          3.700          0              180            0
  84  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  85  StoveKnob       1.602          0.917          0.570          0              270            180
  86  StoveKnob       1.602          0.917          0.625          0              270            180
  87  StoveKnob       1.602          0.917          0.739          0              270            180
  88  StoveKnob       1.602          0.917          0.680          0              270            180
  89  StoveKnob       1.602          0.917          0.462          0              270            180
  90  StoveKnob       1.602          0.917          0.517          0              270            180
  91  Microwave       1.932          0.899          -0.766         0              270            0
  92  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  93  Fridge          -1.764         0.0            0.014          0              90             0
  94  SinkBasin       -0.014         0.736          -1.435         0              0              0
  95  Toaster         1.977          0.900          -0.336         0              270            0
  96  Faucet          -0.020         1.137          -1.605         0              270            0
  97  Chair           -9.354         0.000          1.242          0              180            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn to the right and walk to the counter that is to the right of the sink, then turn right and face the counter to the left of the fridge | STEP 2: Pick up the knife that is sitting on the counter to the left of the papers | STEP 3: Turn around and walk to the microwave | STEP 4: Open the microwave and slice the apple then close the microwave | STEP 5: turn around and cross the room, take a right at the counter and walk to the fridge  | STEP 6: Open the fridge and place the knife on the top shelf then close the fridge | STEP 7: Turn left and head to the counter, take a left and walk to the microwave | STEP 8: Open the microwave and pick up a slice of the apple then close the microwave | STEP 9: Turn around and walk to the fridge | STEP 10: Open the fridge and place the apple on the top shelf to the left of the knife then close the fridge. Then open the fridge and pick up the apple slice and then close the fridge | STEP 11: Turn left and walk to the counter then hang left and head to the microwave | STEP 12: Place the apple on the plate inside the microwave to the right of the other apple. | END