Task: cook an apple slice 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           -3.75          0.900          -2.0           0              180            0
   1  Vase            -1.881         0.555          2.822          0              0              0              80
   2  CellPhone       0.688          0.908          -2.051         0              0              0              60
   3  DishSponge      -1.367         0.881          2.692          0              0              0              80
   4  DishSponge      -0.960         0.178          0.608          0              180            0              74
   5  ButterKnife     0.773          0.911          0.313          0              0              0              55
   6  Glassbottle     1.114          0.912          -1.793         0              0              0              60
   7  Spoon           0.794          0.495          -0.648         0              90             0              58
   8  Egg             -1.229         0.971          -0.118         0              0              0              54
   9  Cup             1.087          0.860          1.254          0              270            0              77
  10  Cup             1.060          1.792          -1.339         0              270            0              76
  11  SaltShaker      -1.981         0.878          2.746          0              0              0              81
  12  PepperShaker    -1.571         0.878          2.746          0              0              0              81
  13  PepperShaker    0.833          0.150          -0.729         0              270            0              57
  14  Lettuce         0.905          0.940          1.063          0              270            0              77
  15  Bread           0.905          1.216          1.349          0              270            0              77
  16  Mug             0.903          0.942          -2.110         0              300.131        0              73
  17  Mug             1.199          0.906          0.313          0              180            0              55
  18  Apple           0.773          0.961          -0.729         0              0              0              55
  19  Apple           -0.642         0.830          -0.573         0              90             0              75
  20  Statue          -1.104         0.936          -0.905         0              0              0              54
  21  Glassbottle     -1.041         0.934          -1.430         0              0              0              54
  22  Bread           -1.355         1.014          -0.118         0              0              0              54
  23  CreditCard      1.199          0.908          -0.208         0              0              0              55
  24  CellPhone       0.944          0.908          -0.208         0              0              0              55
  25  Potato          -0.865         0.207          0.575          0              180            0              74
  26  Knife           0.688          0.934          0.139          0              270            0              55
  27  Fork            1.029          0.911          -0.034         0              90             0              55
  28  Pan             0.842          0.950          -1.098         0              0              0              48
  29  Lettuce         0.773          0.988          -0.381         0              0              0              55
  30  Plate           1.026          1.405          1.254          0              270            0              77
  31  Apple           -0.808         0.830          -0.400         0              90             0              75
  32  Pot             1.077          0.950          -1.504         0              0              0              50
  33  Spatula         0.754          0.717          -0.524         0              180            0              52
  34  PaperTowelRoll  1.199          1.015          -1.793         0              180            0              60
  35  Tomato          -0.624         0.974          0.086          0              0              0              54
  36  Egg             -0.642         0.818          -0.918         0              90             0              75
  37  SaltShaker      0.915          0.491          -0.731         0              270            0              58
  38  PepperShaker    0.834          0.491          -0.690         0              270            0              58
  39  Vase            1.055          1.666          -2.097         0              270            0              53
  40  ButterKnife     -0.846         0.933          -1.463         0              0              0              54
  41  SoapBottle      1.101          1.666          0.280          0              270            0              62
  42  Vase            -1.104         0.934          0.144          0              0              0              54
  43  Bowl            -0.772         0.936          -1.231         0              0              0              54
  44  DishSponge      1.114          0.910          -0.034         0              0              0              55
  45  Spoon           -0.697         0.777          -0.832         0              90             0              75
  46  Cup             0.944          0.908          -0.381         0              0              0              55
  47  Mug             0.773          0.906          -1.879         0              0              0              60
  48  StoveBurner     0.842          0.919          -1.098         0              0              0
  49  Cabinet         0.648          0.474          0.244          0              270            0
  50  StoveBurner     1.077          0.919          -1.504         0              0              0
  51  StoveBurner     0.842          0.919          -1.504         0              0              0
  52  Drawer          0.637          0.755          -0.649         0              270            0
  53  Cabinet         0.949          2.159          -2.375         0              270            0
  54  CounterTop      -1.238         0.968          -0.643         0              0              0
  55  CounterTop      0.931          0.946          -0.208         0              0              0
  56  StoveBurner     1.077          0.919          -1.098         0              0              0
  57  Drawer          0.637          0.268          -0.649         0              270            0
  58  Drawer          0.637          0.547          -0.649         0              270            0
  59  Cabinet         0.648          0.475          -1.714         0              0              0
  60  CounterTop      0.931          0.946          -2.051         0              0              0
  61  Cabinet         0.948          2.439          -1.780         0              270            0
  62  Cabinet         0.948          2.159          -0.140         0              270            0
  63  Cabinet         0.949          2.159          -0.758         0              270            0
  64  Sink            -0.699         0.927          -0.649         0              0              0
  65  LightSwitch     -2.371         1.218          3.049          0              180            0
  66  StoveKnob       0.673          0.899          -1.373         315            90             180
  67  StoveKnob       0.673          0.899          -1.519         315            90             180
  68  StoveKnob       0.673          0.899          -1.086         315            90             180
  69  StoveKnob       0.673          0.899          -1.237         315            90             180
  70  Toaster         0.984          0.900          0.329          0              270            0
  71  Window          0.014          0.998          -2.640         90             0              0
  72  Window          -2.996         0.998          -2.640         90             0              0
  73  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  74  GarbageCan      -0.946         -0.036         0.575          0              180            0
  75  SinkBasin       -0.698         0.765          -0.647         0              90             0
  76  Microwave       1.042          1.680          -1.295         0              270            0
  77  Fridge          0.966          0.0            1.253          0              0              0
  78  HousePlant      -1.354         0.919          -1.540         0              0              0
  79  Shelf           -1.635         0.172          2.715          0              180            0
  80  Shelf           -1.635         0.552          2.715          0              180            0
  81  Shelf           -1.635         0.880          2.715          0              180            0
  82  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  83  Chair           -1.832         0.002          -0.034         0              119.999        0
  84  Chair           -1.854         0.002          -0.956         0              67.887         0
  85  Faucet          -0.867         1.161          -0.651         0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: turn left, walk across room to counter, turn left, walk forward, turn right to face counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn right, take a few steps, turn left to face counter to the left of the stove | STEP 4: slice the apple that is on the counter | STEP 5: turn around to face the sink | STEP 6: put the knife in the sink | STEP 7: turn around to face the counter | STEP 8: pick up the apple slice that is on the counter | STEP 9: take two steps to the right to face stove | STEP 10: put apple slice in the microwave, turn it on, take apple slice out when it turns off | STEP 11: take a few steps to the right to face the coffee maker | STEP 12: put the apple slice on the counter | END