Task: Slice an apple, wash it, 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           -0.5           0.900          2.5            0              270            0
   1  Pan             1.691          0.929          0.064          0              0              0              52
   2  ButterKnife     -0.211         0.910          1.764          0              0              0              41
   3  Kettle          -2.289         0.911          0.331          0              0              0              69
   4  Kettle          -2.567         1.939          -0.578         0              0              0              64
   5  Spatula         -2.227         0.788          0.070          0              270            0              59
   6  Egg             -2.206         0.941          1.830          0              0              0              69
   7  Plate           1.735          1.666          -0.550         0              0              0              61
   8  Plate           -2.289         0.913          1.230          0              0              0              69
   9  Tomato          0.048          0.953          1.317          0              0              0              41
  10  SoapBottle      -0.471         0.912          1.094          0              0              0              41
  11  SoapBottle      -2.310         0.116          -0.122         0              0              0              57
  12  Bowl            -2.420         0.591          -0.962         0              90             0              73
  13  PepperShaker    0.373          1.658          -1.693         0              90             0              48
  14  SaltShaker      1.428          0.905          -0.810         0              0              0              51
  15  SaltShaker      -2.273         0.109          0.076          0              0              0              57
  16  Apple           -2.393         1.362          -0.790         0              90             0              73
  17  Apple           -2.704         0.972          0.931          0              0              0              69
  18  Pan             1.412          0.929          -0.335         0              0              0              42
  19  Knife           -2.318         0.799          1.417          0              270            0              72
  20  Apple           1.604          0.246          0.706          0              0              0              80
  21  Bowl            -2.439         1.297          -0.979         0              90             0              73
  22  Fork            -0.601         0.911          1.317          0              0              0              41
  23  Bread           -2.538         0.996          0.031          0              0              0              69
  24  Plate           -2.372         0.913          1.530          0              0              0              69
  25  Egg             -2.538         1.028          2.380          0              90             0              81
  26  Kettle          1.411          0.929          0.064          0              0              0              70
  27  Potato          -0.471         0.947          0.423          0              0              0              41
  28  SaltShaker      1.855          0.906          0.376          0              0              0              50
  29  Lettuce         0.048          0.994          0.870          0              0              0              41
  30  Cup             -0.341         0.908          0.870          0              0              0              41
  31  SoapBottle      0.445          1.665          -1.802         0              90             0              48
  32  Spatula         -2.257         0.789          1.000          0              270            0              46
  33  PaperTowelRoll  1.426          1.015          0.465          0              0              0              50
  34  ButterKnife     1.599          0.910          -0.810         0              0              0              51
  35  PepperShaker    0.714          0.905          -1.426         0              45             0              51
  36  DishSponge      -0.471         0.910          1.317          0              0              0              41
  37  Pot             1.691          0.929          -0.335         0              0              0              49
  38  Spoon           0.915          0.912          -1.841         0              0              0              51
  39  Tomato          -2.455         0.953          0.631          0              0              0              69
  40  Mug             -2.685         1.532          1.119          0              90             0              54
  41  CounterTop      -0.360         0.946          1.093          0              0              0
  42  StoveBurner     1.412          0.923          -0.335         0              0              0
  43  StoveKnob       1.878          1.093          0.018          287.989        90             0
  44  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  45  Cabinet         -2.446         1.948          2.924          0              0              0
  46  Drawer          -2.276         0.792          0.902          0              0              0
  47  Cabinet         -2.145         0.402          1.578          0              0              0
  48  Cabinet         0.149          2.008          -1.603         0              90             0
  49  StoveBurner     1.691          0.923          -0.335         0              0              0
  50  CounterTop      1.585          0.946          0.405          0              0              0
  51  CounterTop      0.474          0.946          -1.625         0              0              0
  52  StoveBurner     1.691          0.923          0.064          0              0              0
  53  Cabinet         -2.446         1.948          1.687          0              0              0
  54  Cabinet         -2.446         1.948          1.640          0              0              0
  55  Sink            1.381          0.810          -1.271         0              225            0
  56  StoveKnob       1.878          1.093          0.150          287.989        90             0
  57  Cabinet         -2.145         0.402          -0.236         0              0              0
  58  Drawer          -2.276         0.792          0.437          0              0              0
  59  Drawer          -2.276         0.792          -0.027         0              0              0
  60  Cabinet         1.572          2.008          0.474          0              0              0
  61  Cabinet         1.572          2.008          -0.775         0              0              0
  62  Cabinet         -2.445         2.148          -1.275         0              0              0
  63  Cabinet         -2.446         2.148          -0.284         0              0              0
  64  Cabinet         -2.446         1.948          0.355          0              0              0
  65  Cabinet         -2.446         1.948          0.405          0              0              0
  66  Cabinet         -2.145         0.402          0.644          0              0              0
  67  Cabinet         -2.145         0.402          0.695          0              0              0
  68  Cabinet         -2.285         1.968          -1.325         0              180            0
  69  CounterTop      -1.485         0.946          1.319          0              0              0
  70  StoveBurner     1.411          0.923          0.064          0              0              0
  71  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  72  Drawer          -2.276         0.792          1.368          0              0              0
  73  Fridge          -2.475         0.0            -0.782         0              90             0
  74  LightSwitch     -0.929         1.350          -1.950         0              0              0
  75  Toaster         -2.564         0.900          1.876          0              90             0
  76  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  77  Window          1.508          1.534          -1.496         90             135            0
  78  Window          1.973          1.521          1.121          90             90             0
  79  SinkBasin       1.149          0.753          -1.380         0              225            0
  80  GarbageCan      1.646          -0.000         0.679          0              0              0
  81  Microwave       -2.580         0.900          2.440          0              90             0
  82  Stool           0.439          0.010          0.747          0              0              0
  83  Stool           -2.303         0.010          1.839          0              0              0
  84  Faucet          1.235          1.138          -1.473         0              225            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn around and walk toward the door and hang a right toward the sink. | STEP 2: Stop and face the salt shaker on the counter to the left of the sink and pick up the knife behind the shaker. | STEP 3: Turn to your right and walk to the fridge on the other side of the room. | STEP 4: Open the freezer door, slice the apple in the freezer, close the door. | STEP 5: Look down to the fridge., open the fridge and freezer doors, place the knife in the bottom of the freezer, close the doors. | STEP 6: Open the fridge and freezer doors, place the knife in the bottom of the freezer, close the doors. | STEP 7: Look up to the freezer. | STEP 8: Open the freezer door, pick up a slice of apple, close the door. | STEP 9: Turn around and walk to the sink across the room. | STEP 10: Place the apple slice in the sink, turn on the faucet to partially fill the sink with water, turn the faucet off, wash the apple, drain the sink, pick up the apple slice. | STEP 11: Turn to your right and walk toward the wall at the other end of the island, hang a left to the microwave oven. | STEP 12: Open the microwave door, place the apple slice to the right of the egg on the plate in the microwave, close the door. | END