Task: Put cold 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           0.900          0.25           0              270            0
   1  Ladle           1.586          0.955          -1.717         0              90             0              41
   2  ButterKnife     1.529          0.910          0.467          0              90             0              37
   3  Pot             1.807          0.909          -0.320         0              180            0              39
   4  Spatula         0.732          0.925          0.827          0              180            0              37
   5  Egg             -0.692         0.785          -1.559         0              0              0              64
   6  Egg             1.839          0.945          0.311          0              90             0              37
   7  Cup             1.770          1.631          -0.901         0              0              0              49
   8  Cup             1.844          2.134          1.083          0              0              0              44
   9  Knife           1.762          0.943          0.467          0              90             0              37
  10  SoapBottle      1.844          2.134          1.198          0              0              0              44
  11  SoapBottle      1.733          1.652          -0.305         0              0              0              48
  12  PepperShaker    1.935          0.906          -1.802         0              90             0              41
  13  Mug             -0.790         1.086          -1.664         0              0              0              64
  14  Mug             1.734          1.640          -1.643         0              90             0              51
  15  Plate           1.802          1.647          -0.000         0              0              0              47
  16  SoapBottle      1.739          0.068          1.779          0              270            0              55
  17  Cup             1.097          0.909          -1.247         0              90             0              41
  18  Egg             0.894          0.795          -1.599         0              0              0              56
  19  Fork            1.501          0.911          0.827          0              90             0              37
  20  Ladle           1.201          0.926          0.743          3.369          0              346.985        37
  21  Apple           1.803          1.072          -0.888         0              270            0              61
  22  SaltShaker      1.769          2.132          0.729          0              0              0              45
  23  Pan             1.281          0.900          1.190          0              0              0              37
  24  Tomato          1.917          0.974          0.518          0              90             0              37
  25  Spatula         1.726          0.926          -1.631         0              180            0              41
  26  Potato          1.739          0.110          1.588          0              270            0              55
  27  Knife           1.139          0.761          -1.584         271.548        81.956         278.219        56
  28  ButterKnife     0.220          0.910          0.827          0              90             0              37
  29  Bread           1.726          0.988          -1.460         0              90             0              41
  30  Lettuce         -0.692         0.560          -1.412         0              0              0              64
  31  PepperShaker    1.656          0.906          -1.288         0              90             0              41
  32  Pot             1.807          0.909          0.075          0              180            0              38
  33  DishSponge      1.501          0.910          1.180          0              90             0              37
  34  Spoon           1.865          0.912          -1.545         0              270            0              41
  35  Bowl            1.808          1.638          0.375          0              0              0              46
  36  Mug             1.841          1.630          -1.378         0              0              0              50
  37  CounterTop      0.989          0.946          1.016          0              90             0
  38  StoveBurner     1.807          0.907          0.075          0              180            0
  39  StoveBurner     1.807          0.907          -0.320         0              180            0
  40  StoveBurner     1.543          0.907          -0.320         0              90             0
  41  CounterTop      0.989          0.946          -1.516         0              90             0
  42  Sink            1.100          0.906          -1.599         0              0              0
  43  StoveBurner     1.548          0.907          0.075          0              180            0
  44  Cabinet         1.658          2.299          1.313          0              0              0
  45  Cabinet         1.658          2.299          0.686          0              0              0
  46  Cabinet         1.658          2.049          0.673          0              0              0
  47  Cabinet         1.658          2.059          0.193          0              0              0
  48  Cabinet         1.658          2.059          -0.593         0              0              0
  49  Cabinet         1.658          2.049          -0.606         0              0              0
  50  Cabinet         1.658          2.049          -1.206         0              0              0
  51  Cabinet         1.658          2.049          -1.893         0              0              0
  52  Toaster         0.131          0.900          -1.589         0              0              0
  53  Window          -0.372         1.588          3.349          90             0              0
  54  Window          0.782          1.741          -1.893         90             0              0
  55  GarbageCan      1.770          -0.029         1.685          0              270            0
  56  SinkBasin       1.091          0.740          -1.599         0              0              0
  57  StoveKnob       1.364          0.821          0.086          48.421         270            0
  58  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  59  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  60  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  61  Microwave       1.752          0.900          -0.843         0              270            0
  62  LightSwitch     2.0            1.261          3.094          0              270            0
  63  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  64  Fridge          -0.533         0.0            -1.554         0              0              0
  65  Chair           1.068          0.000          1.752          0              191.622        0
  66  Faucet          1.110          1.138          -1.764         0              270            0
  67  Chair           0.357          0.000          1.710          0              178.899        0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: Turn around, go forward to the stove, hang a left and go to the sink. | STEP 2: Pick up the knife that is in the sink.  | STEP 3: Turn to the left to the microwave. | STEP 4: Open the microwave, use the knife to cut the apple, close the microwave. | STEP 5: Lower the knife towards the counter. | STEP 6: Open the microwave, put the knife inside, close the door.  | STEP 7: Raise up towards the microwave. | STEP 8: Open the microwave and remove a slice of apple, close the door.  | STEP 9: Turn around, go forward to the fridge on the left.  | STEP 10: Open the freezer, put the apple inside, close the door, then remove the cold apple from the freezer. | STEP 11: Turn to the left, go forward to the microwave.  | STEP 12: Put the cold apple inside the microwave and close the door. | END