Task: Preparing an apple and putting it 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           -1.0           0.900          1.5            0              180            0
   1  Pan             -2.726         1.445          2.397          0              0              0              62
   2  DishSponge      -0.092         0.823          1.326          0              0              0              44
   3  DishSponge      -2.563         0.692          1.547          0              0              0              49
   4  Spoon           -0.888         0.712          0.445          0              270            0              47
   5  Egg             -0.262         0.080          2.674          0              0              0              64
   6  Egg             -2.777         0.945          1.125          0              90             0              63
   7  Knife           -2.044         0.849          0.508          0              0              0              44
   8  Tomato          -2.782         1.193          2.485          0              90             0              62
   9  SoapBottle      -0.329         0.054          2.640          0              0              0              64
  10  Bowl            -2.648         0.118          1.550          0              0              0              55
  11  Bowl            -2.781         1.140          2.133          0              90             0              62
  12  SaltShaker      -2.491         0.818          0.500          0              0              0              44
  13  PepperShaker    -2.813         0.818          0.462          0              0              0              44
  14  PepperShaker    -1.350         0.120          0.479          0              0              0              57
  15  Lettuce         -2.782         0.908          2.221          0              90             0              62
  16  Apple           -2.744         0.994          1.390          0              270            0              63
  17  Fork            -0.246         0.824          1.326          0              0              0              44
  18  Ladle           -0.169         0.867          1.103          0              0              0              44
  19  Pan             -0.244         0.829          2.075          0              180            0              39
  20  SoapBottle      -2.840         0.821          0.352          0              0              0              44
  21  Pot             -0.531         0.822          2.096          0              0              0              41
  22  Tomato          -2.669         1.181          2.373          0              0              0              62
  23  Potato          -0.169         0.862          0.992          0              0              0              44
  24  SaltShaker      -0.314         0.818          0.500          0              0              0              44
  25  Plate           -1.885         0.130          0.401          0              0              0              56
  26  Spatula         -2.724         0.838          0.203          0              90             0              44
  27  Knife           -2.491         0.849          0.278          0              180            0              44
  28  Egg             -0.229         0.080          2.539          0              0              0              64
  29  Cup             -2.671         0.825          2.397          0              90             0              62
  30  ButterKnife     -2.581         0.823          0.707          0              0              0              44
  31  Lettuce         -1.836         0.741          0.238          0              55.910         0              71
  32  PepperShaker    -2.377         1.431          0.169          0              0              0              51
  33  DishSponge      -1.637         0.124          0.401          0              0              0              57
  34  Bread           -0.979         0.855          0.249          0              29.999         0              44
  35  Spoon           -1.967         0.703          0.295          0              0              0              71
  36  Mug             -2.892         0.819          1.957          0              90             0              62
  37  Bowl            -2.540         1.845          2.368          0              0              0              54
  38  Cabinet         -2.377         2.015          1.720          0              0              0
  39  StoveBurner     -0.244         0.820          2.075          0              180            0
  40  Drawer          -0.402         0.703          1.252          0              0              0
  41  StoveBurner     -0.518         0.820          2.075          0              180            0
  42  Sink            -1.838         0.726          0.343          0              180            0
  43  StoveBurner     -0.244         0.820          1.684          0              0              0
  44  CounterTop      -1.557         0.859          0.277          0              0              0
  45  StoveBurner     -0.518         0.820          1.684          0              0              0
  46  Drawer          -0.404         0.704          0.912          0              0              0
  47  Drawer          -0.861         0.709          0.420          0              0              0
  48  Drawer          -1.133         0.706          0.418          0              0              0
  49  Drawer          -2.589         0.703          1.511          0              0              0
  50  Cabinet         -2.772         1.803          0.508          0              0              0
  51  Cabinet         -2.460         1.803          0.231          0              0              0
  52  Cabinet         -2.781         1.798          0.825          0              0              0
  53  Cabinet         -2.781         1.798          0.815          0              0              0
  54  Cabinet         -2.377         2.009          2.581          0              0              0
  55  Cabinet         -2.442         0.385          1.672          0              0              0
  56  Cabinet         -2.238         0.385          0.564          0              0              0
  57  Cabinet         -1.286         0.385          0.564          0              0              0
  58  Cabinet         -1.262         0.385          0.565          0              0              0
  59  Cabinet         -0.734         0.385          0.565          0              0              0
  60  Cabinet         -0.549         0.385          0.751          0              0              0
  61  Cabinet         -0.549         0.385          1.412          0              0              0
  62  Fridge          -2.782         0.0            2.221          0              0              0
  63  Microwave       -2.794         0.812          1.348          0              90             0
  64  GarbageCan      -0.329         2.205          2.606          0              0              0
  65  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  66  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  67  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  68  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  69  Window          -1.720         1.342          -0.208         90             0              0
  70  Toaster         -0.171         0.812          0.735          0              270            0
  71  SinkBasin       -1.745         0.687          0.295          0              0              0
  72  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  73  LightSwitch     -0.615         1.378          3.0            0              180            0
  74  Faucet          -1.686         0.954          0.176          0              236.223        0
  75  Stool           -1.008         0.008          1.955          0              18.279         0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Move to the sink to the right | STEP 2: Pick up the knife from the counter | STEP 3: Turn right and move to the microwave | STEP 4: open the microwave, cut the apple inside then close the microwave | STEP 5: Move slightly to the left | STEP 6: Open the microwave and place the knife inside to the left of the apple | STEP 7: Move slightly to the right | STEP 8: Open the microwave and remove a slice of apple then close the microwave | STEP 9: Go to the fridge just to the right of the microwave | STEP 10: Open the fridge, place the apple slice just below the lettuce and close the fridge door, wait a bit then open the door and remove the apple slice, close the fridge door | STEP 11: Turn left and go to the microwave | STEP 12: open the microwave, put the slice in to the left of the apple then close the microwave door | END