Task: To put an apple in the microwave and cut it into slices.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          2.5            0              180            0
   1  Potato          0.476          0.950          1.092          0              90             0              39
   2  Ladle           1.805          1.698          -0.353         0              0              0              50
   3  DishSponge      1.355          0.910          -1.247         0              90             0              43
   4  Spatula         0.220          0.925          1.092          0              90             0              39
   5  Egg             0.894          0.795          -1.544         0              0              0              58
   6  Egg             -0.177         1.099          -1.408         0              0              0              66
   7  Plate           1.757          0.912          0.827          0              90             0              39
   8  Plate           -0.790         1.390          -1.594         0              0              0              66
   9  Knife           1.501          0.943          0.827          0              90             0              39
  10  Knife           0.220          0.943          0.915          0              90             0              39
  11  SoapBottle      1.809          2.134          1.083          0              0              0              46
  12  SoapBottle      1.762          0.908          0.518          0              90             0              39
  13  Lettuce         1.757          1.010          1.092          0              90             0              39
  14  Mug             1.844          2.131          1.198          0              0              0              46
  15  Apple           1.032          0.817          -1.654         0              0              0              58
  16  Apple           1.800          0.127          1.636          0              270            0              57
  17  Plate           1.805          1.634          -0.755         0              0              0              51
  18  SoapBottle      1.656          0.909          -1.374         0              90             0              43
  19  Cup             1.805          2.135          0.805          0              0              0              47
  20  Egg             0.732          0.945          1.269          0              90             0              39
  21  Fork            0.356          0.911          -1.793         0              180            0              43
  22  Ladle           1.201          0.926          0.743          3.366          0              346.986        39
  23  Apple           0.455          0.968          -1.263         0              90             0              43
  24  SaltShaker      1.451          0.905          0.415          0              90             0              39
  25  Pan             1.543          0.909          -0.320         0              90             0              42
  26  Tomato          -0.790         1.746          -1.629         0              0              0              66
  27  Spatula         1.696          1.080          0.074          0              0              49.769         45
  28  Potato          0.988          0.950          1.004          0              90             0              39
  29  Knife           1.586          0.943          -1.802         0              180            0              43
  30  ButterKnife     0.296          0.9            -1.296         0              14.568         0              43
  31  Bread           1.501          0.987          1.092          0              90             0              39
  32  Lettuce         1.796          1.011          -1.545         0              90             0              43
  33  PepperShaker    0.476          0.905          1.269          0              90             0              39
  34  Pot             1.548          0.909          0.075          0              180            0              45
  35  DishSponge      1.800          0.069          1.779          0              270            0              57
  36  Spoon           0.732          0.911          0.827          0              90             0              39
  37  Bowl            1.805          1.644          -1.724         0              0              0              53
  38  Mug             -0.595         1.086          -1.559         0              0              0              66
  39  CounterTop      0.989          0.946          1.016          0              90             0
  40  StoveBurner     1.807          0.907          0.075          0              180            0
  41  StoveBurner     1.807          0.907          -0.320         0              180            0
  42  StoveBurner     1.543          0.907          -0.320         0              90             0
  43  CounterTop      0.989          0.946          -1.516         0              90             0
  44  Sink            1.100          0.906          -1.599         0              0              0
  45  StoveBurner     1.548          0.907          0.075          0              180            0
  46  Cabinet         1.658          2.299          1.313          0              0              0
  47  Cabinet         1.658          2.299          0.686          0              0              0
  48  Cabinet         1.658          2.049          0.673          0              0              0
  49  Cabinet         1.658          2.059          0.193          0              0              0
  50  Cabinet         1.658          2.059          -0.593         0              0              0
  51  Cabinet         1.658          2.049          -0.606         0              0              0
  52  Cabinet         1.658          2.049          -1.206         0              0              0
  53  Cabinet         1.658          2.049          -1.893         0              0              0
  54  Toaster         0.131          0.900          -1.589         0              0              0
  55  Window          -0.372         1.588          3.349          90             0              0
  56  Window          0.782          1.741          -1.893         90             0              0
  57  GarbageCan      1.770          -0.029         1.685          0              270            0
  58  SinkBasin       1.091          0.740          -1.599         0              0              0
  59  StoveKnob       1.364          0.821          0.086          48.421         270            0
  60  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  61  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  63  Microwave       1.752          0.900          -0.843         0              270            0
  64  LightSwitch     2.0            1.261          3.094          0              270            0
  65  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  66  Fridge          -0.533         0.0            -1.554         0              0              0
  67  Chair           1.068          0.000          1.752          0              191.622        0
  68  Faucet          1.110          1.138          -1.764         0              270            0
  69  Chair           0.357          0.000          1.710          0              178.899        0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: Turn left, walk to the stove, turn right, and walk to the sink.  | STEP 2: Pick up the apple from the sink.  | STEP 3: Turn left and face the microwave.  | STEP 4: Open the microwave door, place the apple inside of the microwave, close the door.   | STEP 5: Turn right and face the sink.  | STEP 6: Pick up the sharp knife to the left of the sink.  | STEP 7: Turn left to face the microwave.  | STEP 8: Open the microwave door, slice the apple in the microwave, close the door.  | END