Task: Cook an apple inside the microwave and set it on the black table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.900          -1.0           0              180            0
   1  DishSponge      -1.471         0.941          -3.829         0              0              0              39
   2  ButterKnife     -0.473         0.941          -1.538         0              0              0              57
   3  ButterKnife     -3.565         0.894          -0.548         0              270            0              76
   4  Fork            -4.037         0.760          -3.522         0              244.125        0              75
   5  Fork            -3.468         0.760          -2.882         0              199.125        0              75
   6  Egg             -0.334         1.327          -0.297         0              270            0              69
   7  Egg             -4.122         0.732          -0.126         0              0              0              74
   8  Cup             -0.202         1.939          -1.791         0              0              0              48
   9  Knife           -4.039         0.785          -3.109         0              289.125        0              75
  10  Tomato          -4.018         0.810          -3.050         0              109.125        0              75
  11  Tomato          -3.565         0.945          -0.119         0              270            0              76
  12  Bowl            -0.252         1.284          -0.994         0              270            0              69
  13  Bowl            -0.999         0.940          -3.790         0              45             0              39
  14  Bread           -3.314         0.841          -3.241         0              244.125        0              75
  15  Bread           -4.062         0.772          -0.369         0              0              0              74
  16  SaltShaker      -3.701         0.756          -3.151         0              244.125        0              75
  17  Apple           -0.293         1.348          -0.413         0              270            0              69
  18  SoapBottle      -3.831         0.758          -3.737         0              199.125        0              75
  19  Pot             -0.222         0.961          -2.243         0              0              0              58
  20  Fork            -2.139         0.942          -3.829         0              0              0              39
  21  Cup             -3.527         0.760          -2.861         0              199.125        0              75
  22  Tomato          -0.376         1.337          -0.529         0              270            0              69
  23  Pan             -1.248         0.940          -3.517         0              90             0              39
  24  Plate           -0.359         1.502          -0.646         0              270            0              69
  25  Bread           -2.560         0.976          -0.204         0              270            0              76
  26  Spatula         -3.829         0.775          -3.447         0              199.125        0              75
  27  Knife           -0.078         0.966          -1.494         0              90             0              57
  28  SaltShaker      -4.182         0.687          -0.248         0              0              0              74
  29  PepperShaker    -0.436         0.743          -1.450         0              0              0              43
  30  ButterKnife     -3.621         0.760          -3.320         0              109.125        0              75
  31  Apple           -0.167         1.636          -1.937         0              270            0              71
  32  DishSponge      -2.560         0.894          -0.633         0              270            0              76
  33  Potato          -3.882         0.722          -0.248         0              0              0              74
  34  Egg             -0.268         1.616          -2.043         0              270            0              71
  35  Spoon           -0.152         0.943          -2.927         0              45             0              39
  36  Lettuce         -3.364         0.985          -0.548         0              270            0              76
  37  Mug             -0.473         0.937          -2.847         0              0              0              39
  38  Bowl            -3.565         0.892          -0.290         0              270            0              76
  39  CounterTop      -1.937         0.977          -3.673         0              0              0
  40  StoveBurner     -0.437         0.924          -1.845         0              180            0
  41  StoveBurner     -0.222         0.924          -1.845         0              180            0
  42  StoveBurner     -0.437         0.924          -2.243         0              0              0
  43  Drawer          -0.500         0.779          -1.450         0              0              0
  44  Drawer          -0.481         0.777          -2.739         0              0              0
  45  Drawer          -1.154         0.782          -3.499         0              0              0
  46  Cabinet         -0.337         2.110          -0.390         0              0              0
  47  Cabinet         -0.337         2.110          -1.272         0              0              0
  48  Cabinet         -0.337         2.110          -1.631         0              0              0
  49  Cabinet         -0.337         2.110          -2.497         0              0              0
  50  Cabinet         -0.337         1.891          -1.286         0              0              0
  51  Cabinet         -0.346         1.891          -3.293         0              0              0
  52  Cabinet         -0.629         0.388          -2.513         0              0              0
  53  Cabinet         -0.633         0.388          -3.008         0              0              0
  54  Cabinet         -1.010         0.388          -3.368         0              0              0
  55  Cabinet         -0.629         0.388          -1.614         0              0              0
  56  Cabinet         -0.327         1.886          -2.513         0              0              0
  57  CounterTop      -0.326         0.976          -1.450         0              0              0
  58  StoveBurner     -0.222         0.924          -2.243         0              0              0
  59  Sink            -0.600         0.929          -3.388         0              0              0
  60  StoveKnob       -0.617         0.899          -1.833         315            90             180
  61  StoveKnob       -0.617         0.899          -2.129         315            90             180
  62  StoveKnob       -0.617         0.899          -2.289         315            90             180
  63  StoveKnob       -0.617         0.899          -1.975         315            90             180
  64  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  65  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  66  Window          -1.389         1.610          -4.113         90             0              0
  67  LightSwitch     -4.372         1.493          -1.031         0              90             0
  68  SinkBasin       -0.614         0.802          -3.384         0              315            0
  69  Fridge          -0.314         0.0            -0.646         0              0              0
  70  Toaster         -1.970         0.930          -3.763         0              0              0
  71  Microwave       -0.216         1.470          -2.054         0              270            0
  72  Blinds          -1.373         2.205          -3.961         0              0              0
  73  Faucet          -0.393         0.930          -3.614         270            225            0
  74  SideTable       -4.030         0.002          -0.301         0              185.034        0
  75  DiningTable     -3.586         0.000          -3.258         0              0              0
  76  DiningTable     -3.224         -0.003         -0.453         0              0              0
  77  Shelf           -4.030         0.259          -0.301         0              185.034        0
  78  Shelf           -4.030         0.489          -0.301         0              185.034        0
  79  EastWall
  80  EastWall
  81  SouthWall

Plan:
STEP 1: Turn right, turn left, walk towards the black round counter | STEP 2: Pick up the knife with the yellow handle | STEP 3: Turn left, turn left towards the black table | STEP 4: walk straight to the small black table with a bread box | STEP 5: Turn right, walk straight towards the oven with a microwave on top | STEP 6: Open the microwave, put the knife inside | STEP 7: Turn left, turn left, walk straight, turn right towards the small black table | STEP 8: Pick up a slice of a cut apple | STEP 9: Turn right, turn right, walk straight towards the oven with a microwave | STEP 10: Open the microwave, put the apple inside, set the timer, open the microwave | STEP 11: Take the apple, turn left, turn left, walk straight, turn right towards the small black table | STEP 12: Place the slice of apple on the small black table | END