Task: put a cooked apple slice on to the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          2.0            0              0              0
   1  Vase            0.811          0.109          -2.132         0              0              0              64
   2  Potato          -1.054         0.209          0.608          0              180            0              79
   3  CreditCard      0.915          0.492          -0.565         0              270            0              63
   4  CreditCard      -0.772         0.930          -0.067         0              0              0              59
   5  CellPhone       0.773          0.908          -0.034         0              0              0              60
   6  ButterKnife     0.773          0.911          -0.381         0              0              0              60
   7  ButterKnife     -0.550         0.933          -1.540         0              0              0              59
   8  Glassbottle     -1.104         0.934          -0.643         0              0              0              59
   9  Fork            0.874          0.154          -0.769         0              0              0              62
  10  Spoon           0.834          0.495          -0.690         0              270            0              63
  11  Spatula         -0.697         0.791          -0.745         0              90             0              80
  12  Spatula         1.029          0.926          -0.034         0              90             0              60
  13  Knife           -0.698         0.957          -1.308         0              270            0              59
  14  Knife           -0.624         0.957          0.239          0              180            0              59
  15  Egg             -0.477         0.971          -1.618         0              0              0              59
  16  Plate           1.082          2.211          -1.299         0              270            0              66
  17  Tomato          -0.587         0.821          -0.573         0              90             0              80
  18  Tomato          1.026          1.683          1.063          0              270            0              82
  19  Bowl            0.773          0.914          -1.879         0              0              0              65
  20  Bowl            0.910          0.111          -1.892         0              0              0              64
  21  SaltShaker      0.944          0.907          0.139          0              0              0              60
  22  Lettuce         1.026          1.479          1.063          0              270            0              82
  23  Apple           0.905          0.913          1.158          0              270            0              82
  24  Apple           0.844          1.452          1.444          0              270            0              82
  25  Statue          -1.167         0.936          -1.167         0              0              0              59
  26  Glassbottle     1.169          2.208          -0.973         0              270            0              66
  27  Bread           -1.229         1.014          0.144          0              0              0              59
  28  CreditCard      0.688          0.908          -1.965         0              0              0              65
  29  CellPhone       -1.571         0.878          2.719          0              0              0              86
  30  Potato          -0.477         0.963          -1.308         0              0              0              59
  31  Knife           -0.550         0.957          -1.154         0              0              0              59
  32  Fork            0.794          0.494          -0.524         0              180            0              63
  33  Pan             0.848          0.946          -1.080         0              0              0              53
  34  Lettuce         0.688          0.988          -0.555         0              0              0              60
  35  Plate           1.194          1.669          -2.166         0              270            0              58
  36  Apple           -0.912         0.229          0.608          0              180            0              79
  37  Pot             1.077          0.950          -1.504         0              0              0              55
  38  Spatula         -0.753         0.795          -0.745         0              180            0              80
  39  PaperTowelRoll  -1.981         0.986          2.719          0              0              0              86
  40  Tomato          1.026          1.683          1.444          0              270            0              82
  41  Egg             -0.818         0.214          0.641          0              180            0              79
  42  SaltShaker      0.944          0.907          -0.729         0              0              0              60
  43  PepperShaker    -1.674         0.878          2.692          0              0              0              86
  44  Vase            1.212          2.207          -1.626         0              270            0              66
  45  ButterKnife     0.773          0.911          -0.555         0              0              0              60
  46  SoapBottle      0.688          0.911          0.139          0              0              0              60
  47  Vase            1.194          1.667          -0.465         0              270            0              68
  48  Bowl            0.859          0.914          -0.381         0              0              0              60
  49  DishSponge      0.914          0.153          -0.611         0              270            0              62
  50  Spoon           0.859          0.912          -0.729         0              0              0              60
  51  Cup             0.783          1.640          1.444          0              270            0              82
  52  Mug             -1.985         0.549          2.615          0              0              0              85
  53  StoveBurner     0.842          0.919          -1.098         0              0              0
  54  Cabinet         0.648          0.474          0.244          0              270            0
  55  StoveBurner     1.077          0.919          -1.504         0              0              0
  56  StoveBurner     0.842          0.919          -1.504         0              0              0
  57  Drawer          0.637          0.755          -0.649         0              270            0
  58  Cabinet         0.949          2.159          -2.375         0              270            0
  59  CounterTop      -1.238         0.968          -0.643         0              0              0
  60  CounterTop      0.931          0.946          -0.208         0              0              0
  61  StoveBurner     1.077          0.919          -1.098         0              0              0
  62  Drawer          0.637          0.268          -0.649         0              270            0
  63  Drawer          0.637          0.547          -0.649         0              270            0
  64  Cabinet         0.648          0.475          -1.714         0              0              0
  65  CounterTop      0.931          0.946          -2.051         0              0              0
  66  Cabinet         0.948          2.439          -1.780         0              270            0
  67  Cabinet         0.948          2.159          -0.140         0              270            0
  68  Cabinet         0.949          2.159          -0.758         0              270            0
  69  Sink            -0.699         0.927          -0.649         0              0              0
  70  LightSwitch     -2.371         1.218          3.049          0              180            0
  71  StoveKnob       0.673          0.899          -1.373         315            90             180
  72  StoveKnob       0.673          0.899          -1.519         315            90             180
  73  StoveKnob       0.673          0.899          -1.086         315            90             180
  74  StoveKnob       0.673          0.899          -1.237         315            90             180
  75  Toaster         0.984          0.900          0.329          0              270            0
  76  Window          0.014          0.998          -2.640         90             0              0
  77  Window          -2.996         0.998          -2.640         90             0              0
  78  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  79  GarbageCan      -0.946         -0.036         0.575          0              180            0
  80  SinkBasin       -0.698         0.765          -0.647         0              90             0
  81  Microwave       1.042          1.680          -1.295         0              270            0
  82  Fridge          0.966          0.0            1.253          0              0              0
  83  HousePlant      -1.354         0.919          -1.540         0              0              0
  84  Shelf           -1.635         0.172          2.715          0              180            0
  85  Shelf           -1.635         0.552          2.715          0              180            0
  86  Shelf           -1.635         0.880          2.715          0              180            0
  87  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  88  Chair           -1.832         0.002          -0.034         0              119.999        0
  89  Chair           -1.854         0.002          -0.956         0              67.887         0
  90  Faucet          -0.867         1.161          -0.651         0              0              0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: turn around and move forward to the counter that is to the left of the stove | STEP 2: pick up the butter knife that is directly in front of the tan bowl | STEP 3: turn to the left and at the end of the counter on the left turn left and stop to face the black trash can that is at the end of the counter | STEP 4: slice the green apple that is in the trash can with the knife | STEP 5: put the knife in to the trash can behind the apples | STEP 6: remove a slice of the green apple from the trash can | STEP 7: turn to the left and at the edge of the counter, turn to the right and move forward to the stove on the left, turn left to face the stove with the microwave above it | STEP 8: open the microwave door, put the apple slice in to the microwave, close the door, cook for a few seconds, open the door, remove the apple slice and close the door | STEP 9: turn to the right and move to the edge of the counter on the right, turn right and move to the center of the counter turning right to face the counter long ways | STEP 10: put the apple slice on to the counter | END