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           -1.25          0.900          1.75           0              90             0
   1  Pan             -0.244         0.829          2.075          0              180            0              42
   2  Potato          -2.258         0.862          0.278          0              0              0              47
   3  DishSponge      -0.888         0.710          0.445          0              0              0              50
   4  Fork            -0.330         0.697          0.875          0              90             0              49
   5  Egg             -0.429         0.080          2.674          0              0              0              67
   6  Egg             -1.857         0.721          0.381          0              0              0              74
   7  Cup             -1.637         0.125          0.323          0              0              0              60
   8  Tomato          -2.813         0.873          0.871          0              0              0              47
   9  SoapBottle      -2.881         1.433          0.605          0              0              0              56
  10  SoapBottle      -2.569         0.119          1.589          0              0              0              58
  11  Bowl            -2.726         0.821          2.133          0              90             0              65
  12  SaltShaker      -0.147         0.818          0.278          0              0              0              47
  13  SaltShaker      -2.812         1.430          0.265          0              45             0              53
  14  PepperShaker    -0.400         0.818          1.326          0              0              0              47
  15  PepperShaker    -1.207         0.818          0.046          0              0              0              47
  16  Mug             -0.646         0.888          0.367          0              0              0              75
  17  Mug             -2.782         0.819          2.397          0              0              0              65
  18  Apple           -2.744         0.994          1.178          0              270            0              66
  19  Apple           -0.362         0.129          2.572          0              0              0              67
  20  Fork            -2.597         0.692          1.547          0              270            0              52
  21  Ladle           -0.371         0.738          0.879          0              45             0              49
  22  Pan             -0.244         0.829          1.684          0              0              0              46
  23  SoapBottle      -2.375         0.821          0.055          0              0              0              47
  24  Pot             -0.531         0.822          2.096          0              0              0              44
  25  Tomato          -2.726         1.495          1.957          0              90             0              65
  26  Potato          -2.840         0.862          0.278          0              0              0              47
  27  SaltShaker      -2.957         0.818          0.129          0              0              0              47
  28  Plate           -1.943         0.130          0.440          0              0              0              59
  29  Spatula         -0.341         0.696          1.194          0              45             0              43
  30  Knife           -2.840         0.849          0.203          0              0              0              47
  31  Egg             -0.295         0.080          2.708          0              0              0              67
  32  Cup             -2.504         0.823          0.789          0              0              0              47
  33  ButterKnife     -2.493         0.812          0.476          0              50.734         0              47
  34  Lettuce         -0.246         0.907          1.103          0              0              0              47
  35  PepperShaker    -2.375         0.818          0.278          0              0              0              47
  36  DishSponge      -2.462         1.848          1.823          0              0              0              41
  37  Bread           -0.979         0.855          0.249          0              29.999         0              47
  38  Spoon           -1.133         0.699          0.444          0              270            0              51
  39  Mug             -2.781         1.138          2.133          0              90             0              65
  40  Bowl            -2.782         1.442          2.221          0              90             0              65
  41  Cabinet         -2.377         2.015          1.720          0              0              0
  42  StoveBurner     -0.244         0.820          2.075          0              180            0
  43  Drawer          -0.402         0.703          1.252          0              0              0
  44  StoveBurner     -0.518         0.820          2.075          0              180            0
  45  Sink            -1.838         0.726          0.343          0              180            0
  46  StoveBurner     -0.244         0.820          1.684          0              0              0
  47  CounterTop      -1.557         0.859          0.277          0              0              0
  48  StoveBurner     -0.518         0.820          1.684          0              0              0
  49  Drawer          -0.404         0.704          0.912          0              0              0
  50  Drawer          -0.861         0.709          0.420          0              0              0
  51  Drawer          -1.133         0.706          0.418          0              0              0
  52  Drawer          -2.589         0.703          1.511          0              0              0
  53  Cabinet         -2.772         1.803          0.508          0              0              0
  54  Cabinet         -2.460         1.803          0.231          0              0              0
  55  Cabinet         -2.781         1.798          0.825          0              0              0
  56  Cabinet         -2.781         1.798          0.815          0              0              0
  57  Cabinet         -2.377         2.009          2.581          0              0              0
  58  Cabinet         -2.442         0.385          1.672          0              0              0
  59  Cabinet         -2.238         0.385          0.564          0              0              0
  60  Cabinet         -1.286         0.385          0.564          0              0              0
  61  Cabinet         -1.262         0.385          0.565          0              0              0
  62  Cabinet         -0.734         0.385          0.565          0              0              0
  63  Cabinet         -0.549         0.385          0.751          0              0              0
  64  Cabinet         -0.549         0.385          1.412          0              0              0
  65  Fridge          -2.782         0.0            2.221          0              0              0
  66  Microwave       -2.794         0.812          1.348          0              90             0
  67  GarbageCan      -0.329         2.205          2.606          0              0              0
  68  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  69  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  70  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  71  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  72  Window          -1.720         1.342          -0.208         90             0              0
  73  Toaster         -0.171         0.812          0.735          0              270            0
  74  SinkBasin       -1.745         0.687          0.295          0              0              0
  75  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  76  LightSwitch     -0.615         1.378          3.0            0              180            0
  77  Faucet          -1.686         0.954          0.176          0              236.223        0
  78  Stool           -1.008         0.008          1.955          0              18.279         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Move to the sink behind and do the left | STEP 2: Pick up the knife from the right of the counter and below the pepper grinder | STEP 3: Go to the microwave slightly to the right | STEP 4: Open the microwave and cut the apple inside | STEP 5: Put the knife in the microwave slightly behind the apple | STEP 6: Take a slice of apple and close the microwave door | STEP 7: Move to the fridge just to the right of the microwave | STEP 8: Open the fridge, place the apple inside, close the fridge door, wait, open the fridge, take the slice out and close the door | STEP 9: Go back to the microwave just to the left of the fridge | STEP 10: Open the microwave, put the slice inside and close the microwave | END