Task: Obtain an apple from the refrigerator, slice it, and heat it up 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          0.75           0              0              0
   1  DishSponge      -0.081         0.910          0.423          0              0              0              39
   2  ButterKnife     1.353          0.918          -1.239         0              225            0              53
   3  ButterKnife     -2.538         0.910          0.631          0              0              0              67
   4  Fork            -0.341         0.911          0.423          0              0              0              39
   5  Fork            -2.455         0.911          1.530          0              0              0              67
   6  Spoon           -0.730         0.912          0.647          0              0              0              39
   7  Egg             1.771          0.215          0.651          0              0              0              78
   8  Egg             1.645          0.941          -0.794         0              45             0              49
   9  Knife           1.391          0.943          -1.061         0              225            0              53
  10  Knife           -0.601         0.936          1.764          0              90             0              39
  11  Bowl            -0.341         0.908          0.870          0              0              0              39
  12  Bread           0.048          0.996          0.647          0              0              0              39
  13  Apple           -0.601         0.972          1.094          0              0              0              39
  14  Apple           -2.485         1.150          -0.979         0              90             0              71
  15  Apple           -2.439         1.362          -0.979         0              90             0              71
  16  Pan             1.691          0.929          -0.335         0              0              0              47
  17  Knife           -2.227         0.799          0.857          0              90             0              44
  18  Apple           1.562          0.246          0.651          0              0              0              78
  19  Bowl            -2.289         0.908          1.530          0              0              0              67
  20  Fork            -0.471         0.911          0.870          0              0              0              39
  21  Bread           -2.372         0.996          1.230          0              0              0              67
  22  Plate           -2.372         0.913          0.931          0              0              0              67
  23  Egg             -2.393         1.119          -0.790         0              90             0              71
  24  Kettle          1.412          0.929          -0.335         0              0              0              40
  25  Potato          1.855          0.947          0.376          0              0              0              48
  26  SaltShaker      -0.601         0.905          1.317          0              0              0              39
  27  Lettuce         -0.471         0.994          1.317          0              0              0              39
  28  Cup             1.751          0.908          -0.999         0              45             0              49
  29  SoapBottle      -2.605         1.539          0.052          0              0              0              62
  30  Spatula         -2.287         0.788          1.274          0              90             0              70
  31  PaperTowelRoll  1.687          0.289          0.623          0              0              0              78
  32  ButterKnife     1.512          0.911          0.494          0              0              0              48
  33  PepperShaker    -2.349         0.109          0.489          0              0              0              64
  34  DishSponge      1.808          1.663          -0.550         0              0              0              59
  35  Pot             -2.311         0.105          0.895          0              270            0              65
  36  Spoon           -2.379         0.774          -0.073         0              90             0              57
  37  Tomato          1.442          0.965          -1.220         0              225            0              53
  38  Mug             -2.621         0.905          0.031          0              0              0              67
  39  CounterTop      -0.360         0.946          1.093          0              0              0
  40  StoveBurner     1.412          0.923          -0.335         0              0              0
  41  StoveKnob       1.878          1.093          0.018          287.989        90             0
  42  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  43  Cabinet         -2.446         1.948          2.924          0              0              0
  44  Drawer          -2.276         0.792          0.902          0              0              0
  45  Cabinet         -2.145         0.402          1.578          0              0              0
  46  Cabinet         0.149          2.008          -1.603         0              90             0
  47  StoveBurner     1.691          0.923          -0.335         0              0              0
  48  CounterTop      1.585          0.946          0.405          0              0              0
  49  CounterTop      0.474          0.946          -1.625         0              0              0
  50  StoveBurner     1.691          0.923          0.064          0              0              0
  51  Cabinet         -2.446         1.948          1.687          0              0              0
  52  Cabinet         -2.446         1.948          1.640          0              0              0
  53  Sink            1.381          0.810          -1.271         0              225            0
  54  StoveKnob       1.878          1.093          0.150          287.989        90             0
  55  Cabinet         -2.145         0.402          -0.236         0              0              0
  56  Drawer          -2.276         0.792          0.437          0              0              0
  57  Drawer          -2.276         0.792          -0.027         0              0              0
  58  Cabinet         1.572          2.008          0.474          0              0              0
  59  Cabinet         1.572          2.008          -0.775         0              0              0
  60  Cabinet         -2.445         2.148          -1.275         0              0              0
  61  Cabinet         -2.446         2.148          -0.284         0              0              0
  62  Cabinet         -2.446         1.948          0.355          0              0              0
  63  Cabinet         -2.446         1.948          0.405          0              0              0
  64  Cabinet         -2.145         0.402          0.644          0              0              0
  65  Cabinet         -2.145         0.402          0.695          0              0              0
  66  Cabinet         -2.285         1.968          -1.325         0              180            0
  67  CounterTop      -1.485         0.946          1.319          0              0              0
  68  StoveBurner     1.411          0.923          0.064          0              0              0
  69  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  70  Drawer          -2.276         0.792          1.368          0              0              0
  71  Fridge          -2.475         0.0            -0.782         0              90             0
  72  LightSwitch     -0.929         1.350          -1.950         0              0              0
  73  Toaster         -2.564         0.900          1.876          0              90             0
  74  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  75  Window          1.508          1.534          -1.496         90             135            0
  76  Window          1.973          1.521          1.121          90             90             0
  77  SinkBasin       1.149          0.753          -1.380         0              225            0
  78  GarbageCan      1.646          -0.000         0.679          0              0              0
  79  Microwave       -2.580         0.900          2.440          0              90             0
  80  Stool           0.439          0.010          0.747          0              0              0
  81  Stool           -2.303         0.010          1.839          0              0              0
  82  Faucet          1.235          1.138          -1.473         0              225            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: turn around, go to the door, then turn left and face the sink | STEP 2: pick up the knife on the sink with the yellow handle | STEP 3: turn right, then face the refrigerator with the rainbow on it | STEP 4: open the door and slice the apple on the top shelf | STEP 5: turn around, move to the stove, then face the trash can to the left of the stove | STEP 6: place the knife on the left edge of the counter top | STEP 7: go back to the refrigerator | STEP 8: , open the refrigerator door and pick up one slice of apple | STEP 9: turn right, go straight to the wall, and face the microwave on the left | STEP 10: open the microwave door, place the apple slice in the microwave for several seconds, and take it out | STEP 11: go back to the refrigerator door | STEP 12: open the refrigerator and place the slice of apple next to the egg | END