Task: Slice the apple, grab a piece, put it in the fridge put 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           -1.5           0.900          0.5            0              0              0
   1  Potato          1.245          0.950          0.827          0              90             0              36
   2  ButterKnife     0.988          0.910          1.004          0              90             0              36
   3  DishSponge      1.805          2.136          0.918          0              0              0              44
   4  DishSponge      0.926          0.910          -1.247         0              90             0              40
   5  Spatula         1.865          0.926          -1.545         0              0              0              40
   6  Cup             1.805          1.644          -1.765         0              0              0              50
   7  Cup             1.607          0.908          0.518          0              90             0              36
   8  Knife           1.726          0.943          -1.631         0              180            0              40
   9  SoapBottle      1.740          2.134          1.198          0              0              0              43
  10  SoapBottle      0.476          0.908          1.092          0              90             0              36
  11  Tomato          1.451          0.974          0.415          0              90             0              36
  12  Lettuce         1.757          1.010          1.092          0              90             0              36
  13  Bread           -0.741         0.537          -1.541         0              0              0              63
  14  Plate           1.805          1.634          -0.755         0              0              0              48
  15  SoapBottle      1.769          1.643          -1.643         0              0              0              50
  16  Cup             1.738          1.013          -0.676         0              270            0              60
  17  Egg             -0.741         1.126          -1.559         0              0              0              63
  18  Fork            1.501          0.911          0.915          0              90             0              36
  19  Ladle           1.806          1.699          -0.002         0              0              0              46
  20  Apple           0.220          0.967          0.739          0              90             0              36
  21  SaltShaker      1.355          0.906          -1.247         0              90             0              40
  22  Pan             1.281          0.900          1.190          0              0              0              36
  23  Tomato          1.762          0.974          0.570          0              90             0              36
  24  Spatula         1.516          0.926          -1.802         0              90             0              40
  25  Potato          1.796          0.951          -1.374         0              90             0              40
  26  Knife           1.762          0.943          0.518          0              270            0              36
  27  ButterKnife     0.296          0.9            -1.296         0              14.568         0              40
  28  Bread           1.615          0.977          0.761          0              50.525         0              36
  29  Lettuce         0.856          0.989          1.120          0              270            1.529          36
  30  PepperShaker    1.769          1.648          -0.353         0              0              0              47
  31  Pot             1.543          0.909          -0.320         0              90             0              39
  32  DishSponge      1.739          0.069          1.684          0              270            0              54
  33  Spoon           1.032          0.761          -1.544         0              0              0              55
  34  Bowl            0.193          0.900          1.170          0              0              0              36
  35  Mug             0.502          0.940          -1.460         0              0              0              62
  36  CounterTop      0.989          0.946          1.016          0              90             0
  37  StoveBurner     1.807          0.907          0.075          0              180            0
  38  StoveBurner     1.807          0.907          -0.320         0              180            0
  39  StoveBurner     1.543          0.907          -0.320         0              90             0
  40  CounterTop      0.989          0.946          -1.516         0              90             0
  41  Sink            1.100          0.906          -1.599         0              0              0
  42  StoveBurner     1.548          0.907          0.075          0              180            0
  43  Cabinet         1.658          2.299          1.313          0              0              0
  44  Cabinet         1.658          2.299          0.686          0              0              0
  45  Cabinet         1.658          2.049          0.673          0              0              0
  46  Cabinet         1.658          2.059          0.193          0              0              0
  47  Cabinet         1.658          2.059          -0.593         0              0              0
  48  Cabinet         1.658          2.049          -0.606         0              0              0
  49  Cabinet         1.658          2.049          -1.206         0              0              0
  50  Cabinet         1.658          2.049          -1.893         0              0              0
  51  Toaster         0.131          0.900          -1.589         0              0              0
  52  Window          -0.372         1.588          3.349          90             0              0
  53  Window          0.782          1.741          -1.893         90             0              0
  54  GarbageCan      1.770          -0.029         1.685          0              270            0
  55  SinkBasin       1.091          0.740          -1.599         0              0              0
  56  StoveKnob       1.364          0.821          0.086          48.421         270            0
  57  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  58  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  59  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  60  Microwave       1.752          0.900          -0.843         0              270            0
  61  LightSwitch     2.0            1.261          3.094          0              270            0
  62  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  63  Fridge          -0.533         0.0            -1.554         0              0              0
  64  Chair           1.068          0.000          1.752          0              191.622        0
  65  Faucet          1.110          1.138          -1.764         0              270            0
  66  Chair           0.357          0.000          1.710          0              178.899        0
  67  NorthWall
  68  EastWall
  69  SouthWall
  70  WestWall

Plan:
STEP 1: Walk towards the counter next to the toaster | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the island counter | STEP 4: Slice the apple on the counter | STEP 5: Walk with the knife towards the fridge | STEP 6: Put the knife in the fridge | STEP 7: Walk towards the island counter | STEP 8: Grab a piece of apple | STEP 9: Walk with the piece of apple towards the fridge | STEP 10: Put the piece of apple in the fridge, take it out | STEP 11: Walk with the apple piece towards the microwave | STEP 12: Put the apple piece in the microwave  | END