Task: Place a heated apple piece next to a knife by 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           1.124          2.0            0              90             0
   1  Pan             -0.239         1.331          -3.301         0              180            0              44
   2  Potato          0.206          1.362          -2.789         0              0              0              49
   3  DishSponge      -1.614         0.343          0.211          0              0              0              47
   4  Fork            -1.308         1.323          -2.760         0              0              0              49
   5  Fork            -1.645         0.423          -0.364         0              0              0              53
   6  Spoon           -1.603         0.421          -1.283         0              0              0              55
   7  Spatula         -1.737         1.343          -0.980         0              0              0              56
   8  Spatula         -1.730         0.437          -0.298         0              270            0              53
   9  Egg             1.193          1.248          1.222          0              0              0              74
  10  Egg             -1.915         1.376          -0.911         0              0              0              56
  11  Cup             -1.920         1.320          -1.681         0              0              0              49
  12  Plate           -2.049         1.323          1.744          0              0              0              49
  13  Plate           -1.660         1.323          -2.201         0              0              0              49
  14  SoapBottle      -1.586         0.280          2.110          0              270            0              64
  15  SaltShaker      -1.165         1.318          -2.760         0              0              0              49
  16  PepperShaker    -2.179         1.318          -1.941         0              0              0              49
  17  Lettuce         -1.826         1.409          -1.255         0              0              0              56
  18  Mug             -1.954         1.046          -0.587         0              0              0              67
  19  Mug             1.285          1.318          -0.942         0              0              0              49
  20  Apple           -1.657         0.329          2.275          0              270            0              64
  21  Bread           0.563          1.397          -3.232         0              0              0              49
  22  Pot             -1.577         1.310          -1.584         0              0              0              49
  23  Knife           -1.530         1.352          -3.241         0              0              0              49
  24  Bowl            -1.614         0.342          0.613          0              0              0              47
  25  Potato          1.148          1.350          0.810          0              270            0              74
  26  SoapBottle      -1.530         1.323          -2.981         0              0              0              49
  27  Fork            -1.698         1.051          -0.587         0              90             0              67
  28  Cup             0.778          1.205          1.238          0              0              0              74
  29  Kettle          0.824          0.346          -2.267         0              180            0              48
  30  Egg             1.276          1.248          1.222          0              0              0              74
  31  Pan             -0.630         1.331          -3.301         0              180            0              46
  32  SaltShaker      0.349          1.318          -3.343         0              0              0              49
  33  WineBottle      0.420          1.323          -2.678         0              0              0              49
  34  Lettuce         1.017          1.751          1.722          0              270            0              62
  35  Spatula         -1.920         1.337          -2.201         0              0              0              49
  36  PaperTowelRoll  0.766          1.427          -3.164         0              0              0              49
  37  Tomato          -1.826         1.097          -0.542         0              0              0              67
  38  Plate           -1.750         0.344          1.110          0              0              0              50
  39  PepperShaker    -1.094         1.318          -2.981         0              0              0              49
  40  DishSponge      -1.954         0.343          1.317          0              0              0              50
  41  Spoon           0.944          1.208          1.206          0              0              0              74
  42  Apple           -1.790         1.371          0.120          0              0              0              49
  43  Mug             1.115          1.305          1.016          0              180            0              74
  44  StoveBurner     -0.239         1.325          -3.301         0              180            0
  45  Cabinet         -1.461         0.775          -2.002         0              0              0
  46  StoveBurner     -0.630         1.325          -3.301         0              180            0
  47  Cabinet         -1.461         0.775          0.470          0              0              0
  48  Cabinet         0.578          0.776          -2.054         0              0              0
  49  CounterTop      -1.809         1.358          1.182          0              0              0
  50  Cabinet         -1.461         0.775          1.310          0              0              0
  51  Faucet          -2.063         1.362          -0.726         0              39.391         0
  52  StoveBurner     -0.749         1.325          -2.973         0              0              0
  53  Drawer          -1.610         0.681          -0.430         0              0              0
  54  Window          -2.566         1.799          -0.822         270            0              0
  55  Drawer          -1.610         0.681          -1.217         0              0              0
  56  Sink            -1.990         1.143          -0.975         0              0              0
  57  StoveBurner     -0.125         1.325          -2.973         0              0              0
  58  StoveKnob       -0.185         1.338          -2.741         0              270            180
  59  StoveKnob       -0.336         1.338          -2.741         0              270            180
  60  StoveKnob       -0.569         1.338          -2.741         0              270            180
  61  StoveKnob       -0.707         1.338          -2.741         0              270            180
  62  Fridge          1.013          0.227          1.917          0              270            0
  63  Microwave       0.994          1.310          -2.163         0              270            0
  64  GarbageCan      -1.633         0.212          2.192          0              270            0
  65  LightSwitch     1.386          1.565          -0.657         0              270            0
  66  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  67  SinkBasin       -1.835         1.039          -0.542         0              0              0
  68  ButterKnife     0.873          0.468          0.651          0              0              0
  69  Toaster         -1.885         1.310          -2.512         0              90             0
  70  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  71  Drawer          0.647          1.061          0.680          0              270            0
  72  Drawer          0.648          1.061          1.020          0              270            0
  73  Drawer          0.648          0.843          1.020          0              270            0
  74  SideTable       0.975          0.220          0.869          0              270            0
  75  Drawer          0.648          0.602          0.680          0              270            0
  76  Drawer          0.648          0.596          1.020          0              270            0
  77  Drawer          0.648          0.843          0.680          0              270            0
  78  Stool           0.606          0.222          -1.084         1.233          280.489        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife from the counter | STEP 3: Go to the counter right of the sink | STEP 4: Cut the apple on the counter | STEP 5: Go to the microwave | STEP 6: Place the knife next to the microwave | STEP 7: Go to the counter right of the sink | STEP 8: Pick up an apple piece from the counter | STEP 9: Go to the microwave | STEP 10: Heat the apple piece in the microwave | STEP 11: Turn around and face the microwave | STEP 12: Place the apple piece next to the knife | END