Task: Slice an apple, refrigerate it, and microwave it

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          2.75           0              90             0
   1  Pan             -0.106         0.925          0.041          0              90             0              76
   2  Potato          -0.175         0.784          -1.324         0              0              0              92
   3  Ladle           -0.106         0.969          0.970          0              0              0              76
   4  DishSponge      -0.648         0.671          -1.301         0              0              0              59
   5  ButterKnife     1.653          0.911          -0.210         0              0              0              68
   6  ButterKnife     1.714          0.583          -0.165         0              270            0              53
   7  Fork            1.662          0.461          1.219          0              0              0              66
   8  Spatula         0.321          0.940          0.970          0              0              0              76
   9  Spatula         1.559          0.474          0.736          0              270            0              72
  10  Egg             1.117          0.968          -1.707         0              0              0              68
  11  Plate           -0.305         0.113          -1.409         0              0              0              47
  12  Plate           -0.990         1.678          -1.614         0              0              0              70
  13  Tomato          -1.796         0.096          1.288          0              270            0              82
  14  Bowl            -1.645         1.467          0.201          0              90             0              91
  15  Bowl            0.321          0.924          0.506          0              0              0              76
  16  PepperShaker    -0.106         0.921          1.202          0              0              0              76
  17  Bread           0.107          1.006          0.738          0              0              0              76
  18  Bread           -1.050         0.992          -1.610         0              0              0              68
  19  Mug             -1.151         0.108          -1.233         0              0              0              80
  20  Apple           1.988          1.059          -0.651         0              270            0              89
  21  Apple           0.083          0.813          -1.490         0              0              0              92
  22  Apple           1.892          1.059          -0.808         0              270            0              89
  23  SoapBottle      -1.290         0.117          -1.487         0              0              0              80
  24  Cup             -1.697         1.467          -0.269         0              90             0              91
  25  Pot             1.726          0.915          1.182          0              0              0              68
  26  Fork            1.760          0.695          0.478          0              0              0              69
  27  Ladle           1.661          0.503          0.531          0              0              0              72
  28  Kettle          0.194          0.113          -1.471         0              0              0              47
  29  Egg             0.170          0.817          -1.324         0              0              0              92
  30  Plate           0.214          0.924          0.041          0              0              0              76
  31  Pan             1.975          0.938          0.819          0              180            0              78
  32  Lettuce         0.661          0.988          -1.707         0              0              0              68
  33  Spatula         -0.002         0.775          -1.490         0              90             0              92
  34  Apple           0.214          0.978          0.273          0              0              0              76
  35  Knife           1.764          0.492          -0.088         0              0              0              64
  36  SaltShaker      0.417          0.109          -1.282         0              0              0              57
  37  PepperShaker    -0.213         0.921          -0.190         0              0              0              76
  38  CellPhone       1.658          0.761          1.147          0              270            0              74
  39  ButterKnife     0.000          0.925          1.202          0              0              0              76
  40  Bread           -1.803         1.549          -0.081         0              90             0              91
  41  Tomato          -1.716         0.894          0.295          0              90             0              91
  42  Potato          -0.106         0.949          0.506          0              0              0              76
  43  DishSponge      0.321          0.925          -0.190         0              0              0              76
  44  Spoon           -0.088         0.761          -1.435         0              0              0              92
  45  Mug             -0.320         0.920          0.738          0              0              0              76
  46  Bowl            1.234          0.107          -1.542         0              0              0              61
  47  Cabinet         -0.495         0.474          -1.149         0              0              0
  48  Window          -0.010         1.582          -1.821         0              0              0
  49  Drawer          0.805          0.475          -1.159         0              0              0
  50  StoveBurner     1.764          0.902          0.601          0              270            0
  51  Drawer          1.5            0.196          -0.019         0              0              0
  52  Drawer          1.5            0.629          -0.018         0              0              0
  53  Drawer          1.5            0.602          -0.019         0              270            0
  54  StoveBurner     1.975          0.902          0.384          0              270            0
  55  Cabinet         -1.703         2.022          -1.453         0              90             0
  56  Cabinet         1.789          2.019          -0.819         0              270            0
  57  Cabinet         0.494          0.474          -1.149         0              0              0
  58  Cabinet         0.409          0.475          0.444          0              0              0
  59  Drawer          -0.696         0.475          -1.159         0              0              0
  60  Drawer          1.5            0.140          0.599          0              270            0
  61  Cabinet         1.389          0.474          -1.149         0              0              0
  62  Drawer          1.5            0.305          0.600          0              0              0
  63  StoveBurner     1.975          0.902          0.601          0              270            0
  64  Drawer          1.5            0.429          -0.019         0              0              0
  65  StoveBurner     1.764          0.902          0.819          0              270            0
  66  Drawer          1.5            0.519          1.220          0              0              0
  67  Cabinet         1.705          2.019          -1.449         0              0              0
  68  CounterTop      0.002          0.947          -1.513         0              0              0
  69  Drawer          1.5            0.629          0.605          0              0              0
  70  Cabinet         -0.627         2.019          -1.449         0              0              0
  71  StoveBurner     1.764          0.902          0.384          0              270            0
  72  Drawer          1.5            0.538          0.600          0              0              0
  73  Sink            0.0            0.893          -1.434         0              0              0
  74  Drawer          1.5            0.782          1.220          0              270            0
  75  Window          2.217          1.565          -0.384         0              0              0
  76  CounterTop      -0.014         0.961          0.505          0              0              0
  77  Drawer          1.5            0.200          1.220          0              0              0
  78  StoveBurner     1.975          0.902          0.819          0              270            0
  79  Window          -3.240         1.616          2.693          0              270            0
  80  Cabinet         -1.389         0.474          -1.149         0              0              0
  81  LightSwitch     -0.153         1.291          3.700          0              180            0
  82  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  83  StoveKnob       1.602          0.917          0.570          0              270            180
  84  StoveKnob       1.602          0.917          0.625          0              270            180
  85  StoveKnob       1.602          0.917          0.739          0              270            180
  86  StoveKnob       1.602          0.917          0.680          0              270            180
  87  StoveKnob       1.602          0.917          0.462          0              270            180
  88  StoveKnob       1.602          0.917          0.517          0              270            180
  89  Microwave       1.932          0.899          -0.766         0              270            0
  90  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  91  Fridge          -1.764         0.0            0.014          0              90             0
  92  SinkBasin       -0.014         0.736          -1.435         0              0              0
  93  Toaster         1.977          0.900          -0.336         0              270            0
  94  Faucet          -0.020         1.137          -1.605         0              270            0
  95  Chair           -9.354         0.000          1.242          0              180            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn to your right and walk to the kitchen island, stop at the end with the chair and the utensils. | STEP 2: Pick up the knife that is in front of the salt shaker. | STEP 3: Turn and walk toward the sink. | STEP 4: Slice the apple that is near the back of the sink. | STEP 5: Turn to your left and walk to the microwave. | STEP 6: Open the microwave door and place the knife at the inside back of the microwave, close the microwave door, turn it on. | STEP 7: Turn towards your right and go back to the sink. | STEP 8: Pick up the wedge of the apple nearest the faucet. | STEP 9: Turn right and walk to the fridge. | STEP 10: Open the fridge door and place the apple wedge on the shelf with the tomato, to the left of the tomato, close the fridge door; after cooling open the fridge door, pick up the apple wedge, close the fridge door. | STEP 11: Turn to your left and walk to the microwave oven. | STEP 12: Open the microwave door and put the apple wedge at the front of the plate in the microwave, close the door. | END