Task: Place two apple slices and a knife 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           -0.5           0.869          -0.5           0              180            0
   1  Potato          -1.260         0.085          -3.684         0              270            0              51
   2  Potato          0.746          1.407          -1.802         0              270            0              56
   3  ButterKnife     -2.054         0.701          -1.307         0              0              0              72
   4  ButterKnife     0.655          0.883          -0.245         0              180            0              36
   5  Spoon           1.024          0.884          -0.039         0              90             0              36
   6  Spoon           0.781          0.666          0.387          0              90             0              41
   7  Plate           -1.719         0.705          -1.416         0              0              0              72
   8  Tomato          -1.224         0.100          -3.574         0              270            0              51
   9  SaltShaker      -1.578         0.692          -3.782         0              0              0              63
  10  SaltShaker      0.721          0.660          0.387          0              0              0              41
  11  Lettuce         0.715          0.859          -0.735         0              270            0              59
  12  Mug             0.698          0.941          -1.360         0              270            0              49
  13  Apple           0.149          0.954          1.272          0              270            0              62
  14  Pot             -1.555         0.930          1.049          0              0              0              45
  15  Plate           -0.855         0.904          0.929          0              270            0              62
  16  Fork            0.757          0.773          -0.570         0              270            0              59
  17  SoapBottle      -1.970         0.701          -1.091         0              0              0              72
  18  Apple           0.601          0.718          0.508          0              0              0              41
  19  Pan             -2.097         0.930          1.049          0              0              0              43
  20  Egg             0.841          0.809          -0.680         0              270            0              59
  21  Spatula         0.866          0.774          -0.252         0              90             0              35
  22  Potato          0.149          0.933          1.187          0              270            0              62
  23  Cup             0.621          0.014          -0.506         0              0              0              39
  24  SaltShaker      0.582          0.879          -0.314         0              0              0              36
  25  PepperShaker    0.621          0.012          -0.768         0              0              0              39
  26  ButterKnife     -0.252         0.900          0.843          0              270            0              62
  27  DishSponge      0.903          1.463          -0.207         0              0              0              47
  28  Bread           -0.051         0.944          1.015          0              270            0              62
  29  Lettuce         0.841          0.752          0.569          0              0              0              41
  30  Tomato          0.746          1.207          -1.725         0              270            0              56
  31  Spoon           0.720          0.760          0.002          0              0              0              35
  32  Knife           0.877          0.906          0.098          0              0              0              36
  33  Mug             -2.054         0.794          -3.673         0              0              0              58
  34  Bowl            0.787          0.014          -0.702         0              0              0              39
  35  Drawer          0.706          0.766          -0.125         0              0              0
  36  CounterTop      0.792          0.919          -0.108         0              0              0
  37  Mirror          1.093          1.602          -0.643         0              0              0
  38  StoveBurner     -2.096         0.890          0.785          0              0              0
  39  Cabinet         0.507          0.345          -0.426         0              0              0
  40  StoveBurner     -1.552         0.890          0.785          0              0              0
  41  SideTable       0.770          -0.030         0.443          0              0              0
  42  Sink            0.753          0.882          -0.680         0              0              0
  43  StoveBurner     -2.096         0.890          1.049          0              0              0
  44  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  45  StoveBurner     -1.554         0.890          1.049          0              0              0
  46  Cabinet         0.507          0.345          0.156          0              0              0
  47  Cabinet         0.717          1.822          -0.398         0              0              0
  48  Cabinet         0.717          1.822          0.669          0              0              0
  49  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  50  Toaster         -0.522         0.886          1.081          0              180            0
  51  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  52  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  53  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  54  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  56  Fridge          0.680          -0.031         -1.957         0              0              0
  57  Window          -2.424         1.639          -2.453         90             270            0
  58  Microwave       -1.994         0.690          -3.651         0              0              0
  59  SinkBasin       0.757          0.762          -0.688         0              270            0
  60  LightSwitch     1.102          1.368          -3.737         0              270            0
  61  Shelf           -0.350         0.124          0.857          0              0              0
  62  DiningTable     -0.350         -0.025         0.857          0              0              0
  63  DiningTable     -1.909         -0.032         -3.507         0              0              0
  64  Blinds          -2.343         2.151          -2.437         0              270            0
  65  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  66  AluminumFoil    0.751          0.225          0.287          0              0              0
  67  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  68  Shelf           0.771          0.226          0.445          0              0              0
  69  Shelf           0.771          0.456          0.446          0              0              0
  70  Faucet          1.025          0.873          -0.678         270            180            0
  71  Shelf           -0.350         0.497          0.857          0              0              0
  72  DiningTable     -1.929         -0.035         -1.398         0              90             0
  73  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: turn to the left twice and take a step and turn to the right and go to the counter top | STEP 2: pick up the front knife from the counter top | STEP 3: turn to left and go to the table | STEP 4: with the knife slice up the back apple on the table | STEP 5: turn to the  left and take a few steps and turn to the left and go past the table chair and turn to the right and go to the wall and turn to the left and go to the microwave | STEP 6: put the knife in the microwave | STEP 7: turn to the left and take a few steps and turn to the left and go past the refrigerator and turn to the right and take a step and turn to the left and go to the table | STEP 8: take an apple slice from the table | STEP 9: turn to the left and take a few steps and turn to the left and go past the table chair and turn to the right and go to the wall and turn to the left and go to the microwave | STEP 10: open the microwave door and put the apple slice in it | STEP 11: take the knife from the microwave and close the microwave door | STEP 12: turn to the left and take a few steps and turn to the left and go to the table and turn to the right and go to the small table | STEP 13: with the knife slice up the apple in three on the table | STEP 14: turn to the right and take a step and turn right a take a few steps and turn left and go past the chair and turn right and go to the wall and turn left and go to the microwave | STEP 15: put the knife in the microwave | STEP 16: turn to the left and take a few steps and turn to the left and go to the table and turn to the right and go to the small table | STEP 17: take an apple slice from the table | STEP 18: turn to the right and take a step and turn  right a take a few steps and turn left and go past the chair and turn right and go to the wall and turn left and go to the microwave | STEP 19: put the apple slice in the microwave | END