Task: put the chilled apple slice into 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           -3.5           0.900          -0.75          0              90             0
   1  Statue          -2.072         0.910          -0.939         0              270            0              59
   2  Potato          0.014          0.965          -1.429         0              270            0              56
   3  Potato          0.179          0.965          -1.429         0              270            0              56
   4  Book            -2.196         0.871          3.475          0              225            0              61
   5  Book            -0.403         0.118          -1.413         0              0              0              68
   6  Kettle          -2.183         0.913          -1.265         0              0              0              59
   7  WineBottle      -1.501         1.658          -1.637         0              0              0              72
   8  WineBottle      -0.871         0.193          2.174          0              90             0              89
   9  Spatula         0.234          0.943          -1.429         0              270            0              56
  10  Pot             0.974          0.957          -1.688         0              180            0              58
  11  Fork            -0.942         0.912          -1.471         0              90             0              59
  12  Fork            0.663          0.912          -1.776         0              90             0              59
  13  Spoon           -1.849         0.913          -0.939         0              0              0              59
  14  Spoon           -2.315         0.879          3.355          0              225            0              61
  15  Egg             0.079          0.414          2.083          0              180            0              84
  16  Egg             0.079          1.169          2.246          0              180            0              84
  17  Plate           0.036          0.118          -1.379         0              0              0              67
  18  Knife           -1.849         0.934          0.037          0              90             0              59
  19  SoapBottle      3.716          0.881          1.963          0              270            0              80
  20  SoapBottle      1.614          0.910          -1.255         0              0              0              79
  21  PepperShaker    0.560          0.714          -1.476         0              0              0              76
  22  Bread           -2.300         0.961          2.863          0              135            0              61
  23  Bread           -2.659         0.961          3.559          0              0              0              61
  24  Lettuce         -2.950         0.943          3.408          0              135            0              61
  25  Mug             -0.723         0.907          -1.471         0              0              0              59
  26  Apple           -2.143         0.933          3.021          0              135            0              61
  27  Book            0.571          0.908          -1.369         0              0              0              59
  28  Fork            -0.367         0.708          -1.573         0              270            0              88
  29  Tomato          -1.627         0.959          -1.265         0              0              0              59
  30  Egg             -0.034         0.828          2.251          0              180            0              84
  31  Kettle          1.328          0.957          -1.420         0              180            0              63
  32  Vase            3.671          0.168          1.841          0              0              0              82
  33  Cup             0.193          0.801          2.308          0              180            0              84
  34  WineBottle      0.633          0.117          -1.408         0              0              0              66
  35  Plate           3.689          0.884          1.656          0              270            0              80
  36  Spatula         -2.816         0.893          3.379          0              315            0              61
  37  Potato          -0.255         0.733          -1.626         0              270            0              88
  38  Pot             -0.035         1.574          2.100          0              180            0              84
  39  Knife           0.179          0.950          -1.356         0              0              0              56
  40  SaltShaker      -2.584         0.871          3.728          0              0              0              61
  41  PepperShaker    1.676          0.716          -1.344         0              0              0              75
  42  Lettuce         -3.165         0.943          3.147          0              270            0              61
  43  ButterKnife     0.014          0.928          -1.718         0              270            0              56
  44  Bread           0.193          1.655          2.100          0              180            0              84
  45  Vase            3.741          0.554          1.968          0              270            0              82
  46  DishSponge      3.586          0.552          1.760          0              270            0              82
  47  Apple           -2.321         0.929          3.073          0              270            0              61
  48  Pan             0.972          0.959          -1.426         0              0              0              77
  49  Spoon           0.014          0.929          -1.718         0              270            0              56
  50  SoapBottle      -2.510         0.875          2.884          0              0              0              61
  51  Mug             -2.539         0.869          3.341          0              225            0              61
  52  Statue          -1.627         0.919          -0.288         0              180            0              59
  53  Statue          -1.738         0.910          0.037          0              90             0              59
  54  Bowl            -1.944         1.655          -1.710         0              0              0              55
  55  Cabinet         -2.171         2.009          -1.538         0              0              0
  56  Sink            0.024          0.771          -1.708         0              270            0
  57  Cabinet         1.444          2.259          -1.542         0              0              0
  58  StoveBurner     0.974          0.957          -1.688         0              180            0
  59  CounterTop      -1.866         0.947          -0.614         0              0              0
  60  Cabinet         -2.217         0.373          -1.874         0              0              0
  61  DiningTable     -2.663         0.002          3.208          0              0              0
  62  StoveBurner     1.328          0.957          -1.688         0              180            0
  63  StoveBurner     1.328          0.957          -1.420         0              180            0
  64  Cabinet         -1.478         0.373          -1.235         0              0              0
  65  Cabinet         1.775          0.372          -1.242         0              0              0
  66  Cabinet         0.774          0.372          -1.242         0              0              0
  67  Cabinet         0.375          0.372          -1.242         0              0              0
  68  Cabinet         -0.574         0.372          -1.238         0              0              0
  69  Cabinet         1.775          2.009          -1.542         0              0              0
  70  Cabinet         0.524          2.009          -1.542         0              0              0
  71  Cabinet         -0.714         2.009          -1.542         0              0              0
  72  Cabinet         -1.671         2.009          -1.538         0              0              0
  73  Cabinet         0.854          2.259          -1.542         0              0              0
  74  Drawer          -1.636         0.683          -0.930         0              0              0
  75  Drawer          1.650          0.682          -1.396         0              0              0
  76  Drawer          0.600          0.682          -1.396         0              0              0
  77  StoveBurner     0.974          0.957          -1.419         0              180            0
  78  Drawer          -2.062         0.683          -1.579         0              0              0
  79  CounterTop      1.645          0.945          -1.527         0              0              0
  80  Shelf           3.725          0.880          1.671          0              90             0
  81  LightSwitch     2.830          1.266          -0.748         0              0              0
  82  Shelf           3.726          0.552          1.671          0              90             0
  83  Microwave       1.150          1.655          -1.614         0              0              0
  84  Fridge          -0.035         0.0            2.177          0              180            0
  85  Window          -0.115         1.802          -1.896         90             0              0
  86  Window          -4.009         1.799          0.310          90             90             0
  87  Shelf           3.726          0.172          1.671          0              90             0
  88  SinkBasin       -0.330         0.686          -1.581         0              270            0
  89  GarbageCan      -0.870         -0.001         2.136          0              90             0
  90  StoveKnob       1.089          0.913          -1.243         45             0              0
  91  StoveKnob       1.208          0.913          -1.243         45             0              0
  92  StoveKnob       1.340          0.913          -1.243         45             0              0
  93  StoveKnob       0.961          0.913          -1.243         45             0              0
  94  Toaster         1.637          0.900          -1.673         0              0              0
  95  Chair           -3.505         0.002          3.290          0              105.736        0
  96  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  97  HousePlant      -2.663         0.835          3.209          0              0              0
  98  Faucet          -0.187         0.922          -1.75          0              311.166        0
  99  ShelvingUnit    3.726          0.006          1.671          0              90             0
 100  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 101  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 102  Chair           -2.934         0.002          2.437          0              28.531         0
 103  Chair           -1.698         0.002          3.235          0              245.204        0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn and walk to the counter to the left of the  sink  pick up  the knife  | STEP 2: Turn and  walk  to  the table  | STEP 3:  Slice the apple  that is on the table    | STEP 4: Turn and walk to the microwave  | STEP 5: Put the knife into the microwave  | STEP 6: Turn and walk to the table  | STEP 7: pick up a slice of apple  | STEP 8: turn and walk to the refrigerator  | STEP 9: put the  slice of  apple into the refrigerator  | STEP 10: take the apple out of the refrigerator  | STEP 11: walk to the microwave  | STEP 12: put the apple into the microwave  | END