Task: put a caldron with an apple slice on the table

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          1.75           0              270            0
   1  Potato          -3.248         0.759          3.203          0              90             0              65
   2  Pot             -3.000         1.133          0.480          0              270            0              53
   3  Fork            -1.885         1.125          0.662          0              0              0              58
   4  Fork            -0.415         1.048          1.920          0              90             0              48
   5  Spoon           -0.785         1.048          2.144          0              0              0              48
   6  Spoon           -1.199         0.932          0.567          0              0              0              70
   7  Egg             -0.659         1.155          0.206          0              0              0              60
   8  Egg             -0.415         1.078          2.144          0              0              0              48
   9  Plate           -1.235         0.047          0.551          0              0              0              52
  10  Knife           -0.662         1.080          3.042          0              0              0              48
  11  Knife           -2.388         1.157          0.473          0              0              0              58
  12  SoapBottle      -2.403         0.488          0.646          0              0              0              49
  13  SoapBottle      -1.195         0.049          0.324          0              0              0              52
  14  Bowl            -3.44          1.284          2.991          0              90             0              65
  15  SaltShaker      -2.514         1.121          0.567          0              0              0              58
  16  PepperShaker    -2.450         0.091          0.579          0              0              0              51
  17  PepperShaker    -2.181         0.899          0.511          0              0              0              56
  18  Mug             -0.908         1.042          3.266          0              0              0              48
  19  Mug             -0.377         1.095          3.194          0              270            0              64
  20  Apple           -1.199         0.998          0.221          0              0              0              70
  21  Fork            -1.376         0.932          0.359          0              0              0              70
  22  SoapBottle      -0.168         1.047          2.144          0              0              0              48
  23  Pot             -3.475         1.133          0.48           0              90             0              46
  24  Ladle           -2.388         1.164          0.662          0              0              0              58
  25  Potato          -3.240         0.942          2.778          0              90             0              65
  26  Plate           -0.883         1.123          0.206          0              0              0              60
  27  Bread           -0.908         1.133          2.817          0              0              0              48
  28  Lettuce         -1.553         1.008          0.498          0              0              0              70
  29  Spatula         -0.415         1.062          2.144          0              180            0              48
  30  Pan             -0.266         1.038          2.561          0              0              0              48
  31  Egg             -3.798         0.142          2.008          0              0              0              69
  32  Cup             -0.538         1.045          2.369          0              0              0              48
  33  SaltShaker      -0.908         1.043          2.593          0              0              0              48
  34  Knife           -0.662         1.079          1.920          0              0              0              48
  35  Bowl            -3.373         1.558          3.132          0              90             0              65
  36  PepperShaker    -1.076         0.045          0.551          0              0              0              52
  37  ButterKnife     -0.538         1.048          2.144          0              0              0              48
  38  Apple           -3.814         1.192          0.662          0              0              0              55
  39  Tomato          -3.593         0.153          2.038          0              0              0              69
  40  DishSponge      -0.662         1.046          2.817          0              0              0              48
  41  Spoon           -2.514         1.126          0.095          0              90             0              58
  42  Mug             -3.814         1.119          0.284          0              0              0              55
  43  StoveKnob       -3.322         1.053          0.709          45             0              0
  44  StoveBurner     -3.474         1.097          0.227          0              180            0
  45  Sink            -1.394         0.982          0.439          0              0              0
  46  StoveBurner     -3.474         1.097          0.479          0              180            0
  47  StoveKnob       -3.164         1.053          0.709          45             0              0
  48  DiningTable     -0.620         0.017          2.486          0              0              0
  49  Drawer          -2.043         0.608          0.594          0              0              0
  50  Drawer          -2.043         0.216          0.594          0              0              0
  51  Drawer          -2.498         0.216          0.594          0              0              0
  52  Cabinet         -1.001         0.393          0.734          0              0              0
  53  StoveBurner     -3.000         1.097          0.480          0              0              0
  54  StoveKnob       -3.492         1.053          0.709          45             0              0
  55  CounterTop      -3.856         1.160          0.379          0              0              0
  56  Drawer          -2.043         0.937          0.599          0              0              0
  57  Drawer          -2.509         0.937          0.599          0              0              0
  58  CounterTop      -2.280         1.160          0.379          0              0              0
  59  StoveKnob       -2.985         1.053          0.709          45             0              0
  60  CounterTop      -0.514         1.160          0.492          0              0              0
  61  Drawer          -2.498         0.608          0.594          0              0              0
  62  StoveBurner     -3.000         1.097          0.227          0              0              0
  63  Cabinet         -1.733         0.393          0.734          0              0              0
  64  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  65  Fridge          -3.519         0.0            2.717          0              90             0
  66  Window          -1.394         1.924          0.014          90             0              0
  67  Window          -3.266         1.924          0.014          90             0              0
  68  Toaster         -0.225         1.038          2.865          0              270            0
  69  GarbageCan      -3.696         0.002          2.008          0              0              0
  70  SinkBasin       -1.389         0.921          0.428          0              0              0
  71  Microwave       -0.366         1.113          0.430          0              0              0
  72  HousePlant      -2.155         1.101          0.169          0              332.897        0
  73  LightSwitch     -2.584         1.299          3.5            0              180            0
  74  Faucet          -1.393         1.373          0.168          0              270            0
  75  NorthWall
  76  SouthWall
  77  SouthWall

Plan:
STEP 1: go to the table | STEP 2: pick up the knife | STEP 3: take the knife to the sink | STEP 4: cut the apple in the sink | STEP 5: take the knife to the microwave | STEP 6: put the knife in the microwave | STEP 7: go to the sink | STEP 8: pick up an apple slice  | STEP 9: take the slice to the stove | STEP 10: put the slice in the caldron | STEP 11: pick up the caldron | STEP 12: take the caldron to the table | STEP 13: put the caldron on the table | END