Task: Cooking a sliced apple 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           0.25           0.900          2.5            0              270            0
   1  DishSponge      0.193          0.143          0.582          0              0              0              60
   2  Kettle          -0.621         0.761          6.416          0              270            0              87
   3  Pot             1.562          0.988          3.848          0              0              0              45
   4  Pot             1.559          0.988          4.294          0              0              0              49
   5  Spoon           -0.467         0.761          6.479          0              270            0              87
   6  Spoon           1.403          0.993          3.324          0              0              0              51
   7  Spatula         -0.278         0.787          0.563          0              270            0              47
   8  Knife           0.150          0.789          6.416          0              90             0              87
   9  SoapBottle      -0.442         0.760          6.107          0              225            0              87
  10  SoapBottle      0.124          0.144          0.277          0              0              0              60
  11  Bowl            -0.074         1.578          0.251          0              0              0              64
  12  Lettuce         -0.289         0.848          6.786          0              135            0              87
  13  Mug             0.273          1.092          0.213          0              0              0              67
  14  Mug             1.571          0.136          4.647          0              0              0              53
  15  Apple           2.006          0.155          6.528          0              0              0              75
  16  Bowl            1.445          2.206          3.840          0              0              0              42
  17  Bread           0.150          0.829          6.604          0              270            0              87
  18  Egg             1.403          1.042          0.440          0              0              0              51
  19  Knife           -0.535         1.022          0.486          0              0              0              51
  20  Fork            0.871          0.772          0.507          0              0              0              43
  21  Apple           1.225          1.067          3.231          0              0              0              51
  22  Kettle          1.593          0.981          3.25           0              255.000        0              51
  23  Plate           1.406          0.141          2.646          0              0              0              63
  24  SaltShaker      1.500          1.572          1.410          0              0              0              61
  25  Lettuce         1.582          1.081          0.440          0              0              0              51
  26  SoapBottle      0.150          0.760          6.354          0              270            0              87
  27  Spatula         -0.413         0.787          0.451          0              0              0              47
  28  PaperTowelRoll  1.135          1.096          4.579          0              0              0              52
  29  Pot             1.32           0.988          3.848          0              0              0              50
  30  Potato          1.135          1.027          4.716          0              0              0              52
  31  ButterKnife     0.058          0.760          6.261          0              135            0              87
  32  PepperShaker    0.837          1.574          0.383          0              0              0              65
  33  Pan             0.696          0.990          0.578          0              0              0              51
  34  Tomato          -0.535         1.042          0.670          0              0              0              51
  35  DishSponge      0.260          0.771          0.618          0              0              0              48
  36  Cup             2.009          1.511          5.376          0              270            0              73
  37  Spoon           1.238          0.772          4.717          0              0              0              41
  38  Mug             2.051          1.510          5.876          0              270            0              73
  39  Cabinet         1.307          2.455          4.360          0              0              0
  40  Cabinet         1.054          0.422          1.710          0              0              0
  41  Drawer          1.280          0.808          4.718          0              0              0
  42  Cabinet         1.307          2.455          3.607          0              0              0
  43  Drawer          0.736          0.802          0.521          0              0              0
  44  Drawer          1.276          0.802          3.291          0              0              0
  45  StoveBurner     1.562          0.982          3.848          0              0              0
  46  StoveBurner     1.317          0.982          4.294          0              0              0
  47  Drawer          -0.482         0.802          0.521          0              0              0
  48  Drawer          0.124          0.802          0.521          0              0              0
  49  StoveBurner     1.559          0.982          4.294          0              0              0
  50  StoveBurner     1.320          0.982          3.848          0              0              0
  51  CounterTop      1.391          1.028          0.897          0              0              0
  52  CounterTop      1.391          1.028          4.716          0              0              0
  53  Cabinet         1.054          0.422          4.548          0              0              0
  54  Cabinet         1.317          2.134          0.517          0              0              0
  55  Cabinet         1.317          2.134          4.889          0              0              0
  56  Cabinet         1.317          2.134          3.095          0              0              0
  57  Cabinet         0.443          0.422          0.743          0              0              0
  58  Cabinet         1.270          2.134          0.434          0              0              0
  59  Cabinet         -0.775         0.422          0.743          0              0              0
  60  Cabinet         -0.168         0.422          0.743          0              0              0
  61  Cabinet         1.317          2.134          1.534          0              0              0
  62  Cabinet         1.054          0.422          2.990          0              0              0
  63  Cabinet         1.054          0.422          2.944          0              0              0
  64  Cabinet         -0.263         2.134          0.434          0              0              0
  65  Cabinet         0.252          2.134          0.434          0              0              0
  66  Sink            1.391          1.006          2.326          0              0              0
  67  Microwave       0.108          0.981          0.262          0              0              0
  68  HousePlant      -0.165         0.826          6.444          0              0              0
  69  CoffeeMachine   1.551          0.982          0.953          0              270            0
  70  Toaster         1.473          0.981          4.715          0              270            0
  71  Window          -2.065         1.916          3.626          90             90             0
  72  Window          1.763          2.007          2.299          90             270            0
  73  Fridge          2.035          0.0            5.625          0              0              0
  74  SinkBasin       1.387          0.880          2.338          0              90             0
  75  GarbageCan      2.001          -0.044         6.503          0              0              0
  76  StoveKnob       1.140          0.934          3.987          45             270            0
  77  StoveKnob       1.140          0.934          4.309          45             270            0
  78  StoveKnob       1.140          0.934          4.140          45             270            0
  79  StoveKnob       1.140          0.934          3.824          45             270            0
  80  Vase            -0.226         0.834          6.993          0              0              0
  81  Vase            2.098          0.043          7.070          0              257.232        0
  82  Vase            -0.594         0.835          6.130          0              225            0
  83  LightSwitch     -2.0           1.549          6.045          0              90             0
  84  Safe            2.046          1.072          7.054          0              257.232        0
  85  Faucet          1.534          1.025          2.371          0              294.391        0
  86  Blinds          1.738          2.563          2.312          0              90             0
  87  DiningTable     -0.156         0.000          6.474          0              0              0
  88  Chair           0.291          0.002          6.142          0              310.162        0
  89  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn to the right and walk to the back of the kitchen to the black round table | STEP 2: Pick up the yellow handled knife from the table | STEP 3: Turn to the left and walk to the kitchen counter in between the sink and stove and face it | STEP 4: Slice the apple on the table | STEP 5: Open the cabinet door below  | STEP 6: Place the knife inside the cabinet and close the door | STEP 7: Face back towards the kitchen counter | STEP 8: Pick up the apple slice from the counter | STEP 9: Turn around and walk towards the left to the microwave | STEP 10: Open the microwave place the apple inside, warm it then remove it | STEP 11: Turn around and walk straight towards the refrigerator on the right and face it | STEP 12: Open the refrigerator and place the apple inside then close the door | END