Task: Heating a sliced 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           0.75           0.901          -0.25          0              0              0
   1  Pan             1.863          0.935          1.106          0              0              0              70
   2  Potato          1.840          0.978          0.509          0              0              0              67
   3  Potato          2.164          0.642          -0.188         0              270            0              77
   4  WineBottle      0.060          0.938          2.688          0              0              0              56
   5  WineBottle      2.148          0.939          0.806          0              0              0              67
   6  Ladle           1.976          0.791          0.721          0              270            0              65
   7  DishSponge      -0.425         0.937          2.425          0              0              0              56
   8  DishSponge      2.127          1.503          0.755          0              0              0              64
   9  Pot             2.140          0.935          1.504          0              180            0              51
  10  Spatula         -0.425         0.805          0.545          0              90             0              83
  11  Egg             2.292          0.644          -0.550         0              270            0              77
  12  Egg             2.096          0.380          -0.550         0              270            0              Floor|+02.38|
  13  Cup             0.174          0.935          2.827          0              0              0              56
  14  Cup             -0.395         1.034          2.014          0              90             0              81
  15  Knife           1.815          0.771          1.991          0              90             0              71
  16  Knife           1.884          0.772          2.197          0              270            0              71
  17  Tomato          -0.119         0.837          1.217          0              0              0              83
  18  Tomato          2.168          1.367          -0.369         0              270            0              77
  19  SaltShaker      0.033          0.780          0.713          0              0              0              83
  20  SaltShaker      -0.349         0.785          0.713          0              0              0              83
  21  Mug             2.064          0.989          2.462          0              225            0              82
  22  Apple           -0.425         0.840          1.217          0              0              0              83
  23  Apple           1.276          0.845          2.695          0              0              0              80
  24  Apple           -0.425         0.840          1.049          0              0              0              83
  25  Egg             0.788          0.837          2.584          0              0              0              80
  26  Lettuce         -0.282         0.999          2.757          0              0              0              56
  27  Fork            -0.272         0.782          0.545          0              0              0              83
  28  SoapBottle      1.880          1.503          2.730          0              0              0              57
  29  Ladle           1.989          0.791          1.922          0              90             0              71
  30  Ladle           1.872          0.790          0.446          0              90             0              65
  31  Bread           -0.200         0.823          0.814          0              0              0              83
  32  SaltShaker      -0.272         0.785          1.386          0              0              0              83
  33  Potato          2.059          0.378          -0.369         0              270            0              77
  34  Pan             1.928          0.070          0.640          0              0              0              53
  35  WineBottle      2.244          1.502          1.963          0              0              0              59
  36  Spatula         0.576          0.810          2.584          0              90             0              80
  37  Knife           2.301          0.963          0.583          0              90             0              67
  38  Tomato          2.076          1.565          -0.278         0              270            0              77
  39  Apple           -0.042         0.840          1.049          0              0              0              83
  40  ButterKnife     0.060          0.937          2.827          0              0              0              56
  41  Pot             -0.121         0.784          0.542          357.868        0              0              83
  42  PepperShaker    -0.118         0.932          2.425          0              0              0              56
  43  Cup             2.023          0.336          -0.188         0              270            0              77
  44  DishSponge      0.002          0.745          2.129          0              0              0              55
  45  Plate           1.925          0.086          2.057          0              0              0              52
  46  Spoon           -0.349         0.792          1.049          0              90             0              83
  47  Mug             1.085          0.076          2.523          0              0              0              62
  48  Bowl            1.369          0.078          2.523          0              0              0              62
  49  Cabinet         2.041          2.113          2.618          0              0              0
  50  Cabinet         0.126          0.388          1.774          0              0              0
  51  StoveBurner     2.140          0.929          1.504          0              180            0
  52  Cabinet         1.760          0.388          2.346          0              0              0
  53  Cabinet         1.760          0.388          0.869          0              0              0
  54  Cabinet         2.041          1.810          0.283          0              0              0
  55  Drawer          -0.024         0.774          2.061          0              0              0
  56  CounterTop      1.065          0.973          2.666          0              0              0
  57  Cabinet         1.969          2.113          2.618          0              0              0
  58  StoveBurner     2.140          0.929          1.106          0              0              0
  59  Cabinet         2.041          2.113          1.809          0              0              0
  60  StoveBurner     1.866          0.929          1.504          0              180            0
  61  Cabinet         2.041          2.113          1.766          0              0              0
  62  Cabinet         1.514          0.388          2.360          0              0              0
  63  Cabinet         0.351          0.388          2.360          0              0              0
  64  Cabinet         2.041          1.810          0.872          0              0              0
  65  Drawer          2.167          0.774          0.582          0              0              0
  66  Cabinet         2.041          2.113          0.892          0              0              0
  67  CounterTop      2.060          0.973          0.583          0              0              0
  68  Sink            0.935          0.936          2.646          0              0              0
  69  Curtains        0.964          2.061          2.989          0              0              0
  70  StoveBurner     1.863          0.929          1.106          0              0              0
  71  Drawer          1.911          0.774          2.060          0              0              0
  72  StoveKnob       2.326          1.092          1.610          288.013        90             0
  73  StoveKnob       2.326          1.092          1.460          288.013        90             0
  74  StoveKnob       2.326          1.092          1.210          288.013        90             0
  75  StoveKnob       2.326          1.092          1.050          288.013        90             0
  76  Toaster         2.126          0.926          0.572          0              270            0
  77  Fridge          2.104          0.0            -0.279         0              270            0
  78  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  79  LightSwitch     0.354          1.518          -1.031         0              0              0
  80  SinkBasin       0.903          0.784          2.640          0              0              0
  81  Microwave       -0.310         0.926          2.077          0              90             0
  82  CoffeeMachine   2.084          0.927          2.667          0              225            0
  83  DiningTable     -0.153         -0.000         1.073          0              270            0
  84  Faucet          1.175          0.926          2.950          270            90             0
  85  Faucet          0.686          0.926          2.950          270            90             0
  86  Chair           -0.077         0.002          0.196          0              15.000         0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Walk straight towards the kitchen sink and face it | STEP 2: Pick up the butter knife from the sink | STEP 3: Turn around and walk to the white table on the right | STEP 4: Slice the apple on the back of the table | STEP 5: Turn around and walk to the cabinet left of the oven | STEP 6: Open the door bottom left cabinet door and place the knife inside, then close it | STEP 7: Turn around and walk to the white kitchen table | STEP 8: Pick up the sliced apple piece on the table | STEP 9: Turn to the right and walk up to the microwave and face it | STEP 10: Open the microwave door, place the apple inside and warm it, then remove it | STEP 11: Turn left and walk to the white kitchen table on the right | STEP 12: Place the warm apple on the table | END