Task: put a clean slice of 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          0.900          0.0            0              270            0
   1  DishSponge      1.216          1.655          1.390          0              0              0              79
   2  Kettle          -0.160         0.116          1.196          0              0              0              80
   3  ButterKnife     -0.983         0.820          -1.206         0              90             0              111
   4  ButterKnife     2.754          0.911          1.129          0              0              0              87
   5  Pot             0.281          0.964          1.347          0              0              0              67
   6  Pot             0.281          0.964          1.082          0              0              0              58
   7  Spatula         2.754          0.926          1.468          0              0              0              87
   8  Spatula         1.155          0.926          1.468          0              0              0              87
   9  Plate           1.880          1.658          1.468          0              0              0              64
  10  Plate           0.284          2.159          1.467          0              0              0              86
  11  Cup             1.561          1.652          1.508          0              0              0              64
  12  Cup             2.715          1.561          -0.578         0              0              0              107
  13  SoapBottle      1.422          0.917          1.299          0              0              0              87
  14  SoapBottle      2.221          0.917          1.553          0              0              0              87
  15  Tomato          -0.839         0.852          -1.308         0              90             0              111
  16  Tomato          -1.991         0.455          1.459          0              270            0              105
  17  Bowl            2.653          1.017          -0.775         0              0              0              107
  18  Bowl            -0.983         0.818          -1.308         0              90             0              111
  19  SaltShaker      0.759          2.150          1.584          0              0              0              86
  20  SaltShaker      -0.990         0.817          -1.038         0              0              0              111
  21  PepperShaker    -0.887         0.817          -1.473         0              0              0              111
  22  PepperShaker    -0.766         0.817          -1.206         0              90             0              111
  23  Bread           0.634          0.969          -0.515         0              0              0              52
  24  Mug             1.428          0.968          -0.577         0              0              0              52
  25  Mug             2.962          1.014          -0.644         0              0              0              107
  26  Apple           -0.198         0.980          1.299          0              0              0              63
  27  Apple           0.415          1.853          1.455          0              180            0              110
  28  Apple           -1.991         0.492          1.332          0              270            0              105
  29  SoapBottle      -0.198         0.917          1.129          0              0              0              63
  30  Plate           2.488          0.914          1.214          0              0              0              87
  31  Fork            -0.151         0.912          1.299          0              180            0              63
  32  Pot             1.141          0.915          -0.6           0              0              0              52
  33  Bread           1.955          0.969          1.299          0              0              0              87
  34  Egg             -0.007         0.949          1.299          0              0              0              63
  35  Kettle          1.213          0.116          1.156          0              0              0              59
  36  Tomato          0.123          0.797          -0.762         0              0              0              109
  37  Cup             1.792          0.112          1.236          0              0              0              81
  38  Spatula         1.155          0.926          1.214          0              0              0              87
  39  Apple           -0.694         0.889          -1.308         0              90             0              111
  40  Pan             0.637          0.960          1.090          0              0              0              55
  41  Lettuce         2.918          1.345          -0.612         15.903         3.671          14.806         107
  42  SaltShaker      2.277          1.651          -0.872         0              180            0              73
  43  Knife           -0.087         0.798          -0.707         0              90             0              109
  44  Potato          2.221          0.946          1.299          0              0              0              87
  45  PepperShaker    -0.836         0.817          -1.400         0              0              0              111
  46  ButterKnife     0.888          0.911          -0.430         0              0              0              52
  47  Bowl            2.804          1.652          1.508          0              0              0              53
  48  DishSponge      1.179          1.655          1.546          0              0              0              79
  49  Spoon           -0.157         0.766          -0.707         0              90             0              109
  50  Mug             2.777          0.721          -0.565         0              0              0              107
  51  Sink            0.050          0.902          -0.648         0              0              0
  52  CounterTop      1.358          0.947          -0.600         0              0              0
  53  Cabinet         2.986          2.009          1.304          0              0              0
  54  Cabinet         1.022          2.009          -0.607         0              180            0
  55  StoveBurner     0.678          0.923          1.082          0              0              0
  56  Cabinet         2.371          0.402          0.995          0              0              0
  57  Drawer          -0.125         0.792          0.995          0              0              0
  58  StoveBurner     0.281          0.923          1.082          0              0              0
  59  Cabinet         1.025          0.402          0.995          0              0              0
  60  Cabinet         1.023          0.402          -0.296         0              180            0
  61  Cabinet         0.974          2.259          1.304          0              0              0
  62  Cabinet         0.979          2.009          -0.607         0              180            0
  63  CounterTop      -0.158         0.947          1.299          0              0              0
  64  Cabinet         1.725          2.009          1.304          0              0              0
  65  Drawer          2.205          0.792          -0.294         0              180            0
  66  Drawer          1.869          0.792          -0.294         0              180            0
  67  StoveBurner     0.281          0.923          1.347          0              0              0
  68  Drawer          2.512          0.792          0.995          0              0              0
  69  Cabinet         1.673          0.402          -0.296         0              180            0
  70  Drawer          1.524          0.792          0.995          0              0              0
  71  Drawer          1.174          0.792          -0.294         0              180            0
  72  Cabinet         1.720          0.402          0.995          0              0              0
  73  Cabinet         2.348          2.009          -0.607         0              180            0
  74  Cabinet         1.676          2.009          -0.607         0              180            0
  75  Cabinet         1.673          2.009          1.304          0              0              0
  76  Cabinet         2.326          2.009          1.304          0              0              0
  77  Cabinet         2.370          2.009          1.304          0              0              0
  78  Cabinet         0.021          2.009          1.304          0              0              0
  79  Cabinet         1.025          2.009          1.304          0              0              0
  80  Cabinet         -0.274         0.402          0.995          0              0              0
  81  Cabinet         1.675          0.402          0.995          0              0              0
  82  Drawer          1.524          0.792          -0.294         0              180            0
  83  Drawer          2.187          0.792          0.995          0              0              0
  84  Cabinet         2.977          0.402          0.995          0              0              0
  85  Drawer          1.862          0.792          0.995          0              0              0
  86  Cabinet         0.072          2.259          1.304          0              0              0
  87  CounterTop      1.917          0.947          1.299          0              0              0
  88  Cabinet         2.328          0.402          0.995          0              0              0
  89  Cabinet         1.723          2.009          -0.607         0              180            0
  90  StoveBurner     0.677          0.923          1.345          0              0              0
  91  Cabinet         0.355          2.009          -0.607         0              180            0
  92  Cabinet         0.332          2.009          -0.607         0              180            0
  93  Cabinet         2.349          0.402          -0.296         0              180            0
  94  Cabinet         -0.284         2.009          -0.607         0              180            0
  95  Faucet          0.061          0.906          -0.903         0              0              0
  96  Drawer          2.837          0.792          0.995          0              0              0
  97  Drawer          1.175          0.792          0.995          0              0              0
  98  Cabinet         1.723          0.402          -0.296         0              180            0
  99  StoveKnob       0.588          1.093          1.557          287.970        0              0
 100  StoveKnob       0.188          1.093          1.557          287.970        0              0
 101  StoveKnob       0.749          1.093          1.557          287.970        0              0
 102  StoveKnob       0.338          1.093          1.557          287.970        0              0
 103  Toaster         1.934          0.900          -0.717         0              0              0
 104  LightSwitch     -1.662         1.427          1.649          0              180            0
 105  GarbageCan      -1.965         -0.029         1.358          0              270            0
 106  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 107  Fridge          3.043          0.0            -0.709         0              0              0
 108  Window          -2.183         1.501          -0.014         90             270            0
 109  SinkBasin       0.043          0.755          -0.651         0              0              0
 110  Microwave       0.531          1.675          1.437          0              180            0
 111  DiningTable     -0.836         8.404          -1.258         0              0              0
 112  Chair           -1.611         0.002          -1.185         0              45             0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1:  turn and walk to the counter   | STEP 2:  pick up the knife that is on the counter  | STEP 3:  turn and walk to the microwave  | STEP 4: slice the Apple that's in the microwave | STEP 5: Put The Knife into the microwave | STEP 6:  take the Apple out of the microwave | STEP 7:  turn and walk  to the sink  | STEP 8:  put the Apple into the sink | STEP 9:  turn the water on  turn the water off | STEP 10:  take the Apple out of the  sink | STEP 11:   turn and walk to the microwave  | STEP 12: put the Apple into the microwave  | END