Task: To cut an apple, as well as place it into a bowl, as well as storing 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           -1.25          0.900          1.0            0              0              0
   1  Pan             0.678          0.964          1.345          0              0              0              83
   2  Potato          2.838          1.598          -0.840         0              0              0              100
   3  Potato          0.363          1.819          1.520          0              180            0              103
   4  DishSponge      -2.019         0.423          1.417          0              270            0              98
   5  ButterKnife     1.155          0.911          1.044          0              0              0              80
   6  Spoon           -0.911         0.822          -1.257         0              90             0              104
   7  Spoon           2.221          0.912          1.299          0              0              0              80
   8  Fork            -0.193         0.772          1.198          0              270            0              50
   9  Fork            1.276          0.771          -0.498         0              90             0              64
  10  Spatula         -0.983         0.835          -1.155         0              180            0              104
  11  Plate           2.754          0.914          1.383          0              0              0              80
  12  Plate           1.141          0.914          -0.515         0              0              0              45
  13  Cup             0.178          1.653          -0.693         0              180            0              85
  14  SoapBottle      2.770          1.660          1.394          0              0              0              46
  15  SaltShaker      1.955          0.908          1.214          0              0              0              80
  16  PepperShaker    -0.939         0.817          -1.400         0              0              0              104
  17  Bread           2.777          1.346          -0.578         0              0              0              100
  18  Lettuce         1.155          0.992          1.299          0              0              0              80
  19  Lettuce         2.488          0.992          1.214          0              0              0              80
  20  Apple           -0.785         0.889          -1.400         0              0              0              104
  21  Apple           2.715          1.632          -0.578         0              0              0              100
  22  SoapBottle      -0.621         0.826          -1.308         0              90             0              104
  23  Plate           1.955          0.914          1.468          0              0              0              80
  24  Fork            2.238          0.771          -0.422         0              270            0              58
  25  Pot             0.281          0.964          1.347          0              0              0              60
  26  Bread           2.488          0.969          1.468          0              0              0              80
  27  Egg             2.962          1.056          -0.644         0              0              0              100
  28  Kettle          0.888          0.912          -0.515         0              0              0              45
  29  Tomato          -0.198         0.942          1.553          0              0              0              56
  30  Cup             1.176          0.112          1.117          0              0              0              52
  31  Spatula         1.422          0.926          1.468          0              0              0              80
  32  Apple           2.715          1.087          -0.578         0              0              0              100
  33  Pan             0.284          2.156          1.467          0              0              0              54
  34  Lettuce         -0.103         0.992          1.383          0              90             0              56
  35  SaltShaker      -1.056         0.817          -1.257         0              90             0              104
  36  Knife           0.193          0.798          -0.596         0              270            0              102
  37  Potato          2.900          0.761          -0.565         0              0              0              100
  38  PepperShaker    -0.246         0.908          1.129          0              0              0              56
  39  ButterKnife     1.688          0.911          1.214          0              0              0              80
  40  Bowl            -0.087         0.763          -0.707         0              0              0              102
  41  DishSponge      2.221          0.911          1.129          0              0              0              80
  42  Spoon           -0.091         0.772          1.160          0              0              0              50
  43  Mug             2.591          1.283          -0.709         0              90             0              100
  44  Sink            0.050          0.902          -0.648         0              0              0
  45  CounterTop      1.358          0.947          -0.600         0              0              0
  46  Cabinet         2.986          2.009          1.304          0              0              0
  47  Cabinet         1.022          2.009          -0.607         0              180            0
  48  StoveBurner     0.678          0.923          1.082          0              0              0
  49  Cabinet         2.371          0.402          0.995          0              0              0
  50  Drawer          -0.125         0.792          0.995          0              0              0
  51  StoveBurner     0.281          0.923          1.082          0              0              0
  52  Cabinet         1.025          0.402          0.995          0              0              0
  53  Cabinet         1.023          0.402          -0.296         0              180            0
  54  Cabinet         0.974          2.259          1.304          0              0              0
  55  Cabinet         0.979          2.009          -0.607         0              180            0
  56  CounterTop      -0.158         0.947          1.299          0              0              0
  57  Cabinet         1.725          2.009          1.304          0              0              0
  58  Drawer          2.205          0.792          -0.294         0              180            0
  59  Drawer          1.869          0.792          -0.294         0              180            0
  60  StoveBurner     0.281          0.923          1.347          0              0              0
  61  Drawer          2.512          0.792          0.995          0              0              0
  62  Cabinet         1.673          0.402          -0.296         0              180            0
  63  Drawer          1.524          0.792          0.995          0              0              0
  64  Drawer          1.174          0.792          -0.294         0              180            0
  65  Cabinet         1.720          0.402          0.995          0              0              0
  66  Cabinet         2.348          2.009          -0.607         0              180            0
  67  Cabinet         1.676          2.009          -0.607         0              180            0
  68  Cabinet         1.673          2.009          1.304          0              0              0
  69  Cabinet         2.326          2.009          1.304          0              0              0
  70  Cabinet         2.370          2.009          1.304          0              0              0
  71  Cabinet         0.021          2.009          1.304          0              0              0
  72  Cabinet         1.025          2.009          1.304          0              0              0
  73  Cabinet         -0.274         0.402          0.995          0              0              0
  74  Cabinet         1.675          0.402          0.995          0              0              0
  75  Drawer          1.524          0.792          -0.294         0              180            0
  76  Drawer          2.187          0.792          0.995          0              0              0
  77  Cabinet         2.977          0.402          0.995          0              0              0
  78  Drawer          1.862          0.792          0.995          0              0              0
  79  Cabinet         0.072          2.259          1.304          0              0              0
  80  CounterTop      1.917          0.947          1.299          0              0              0
  81  Cabinet         2.328          0.402          0.995          0              0              0
  82  Cabinet         1.723          2.009          -0.607         0              180            0
  83  StoveBurner     0.677          0.923          1.345          0              0              0
  84  Cabinet         0.355          2.009          -0.607         0              180            0
  85  Cabinet         0.332          2.009          -0.607         0              180            0
  86  Cabinet         2.349          0.402          -0.296         0              180            0
  87  Cabinet         -0.284         2.009          -0.607         0              180            0
  88  Faucet          0.061          0.906          -0.903         0              0              0
  89  Drawer          2.837          0.792          0.995          0              0              0
  90  Drawer          1.175          0.792          0.995          0              0              0
  91  Cabinet         1.723          0.402          -0.296         0              180            0
  92  StoveKnob       0.588          1.093          1.557          287.970        0              0
  93  StoveKnob       0.188          1.093          1.557          287.970        0              0
  94  StoveKnob       0.749          1.093          1.557          287.970        0              0
  95  StoveKnob       0.338          1.093          1.557          287.970        0              0
  96  Toaster         1.934          0.900          -0.717         0              0              0
  97  LightSwitch     -1.662         1.427          1.649          0              180            0
  98  GarbageCan      -1.965         -0.029         1.358          0              270            0
  99  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 100  Fridge          3.043          0.0            -0.709         0              0              0
 101  Window          -2.183         1.501          -0.014         90             270            0
 102  SinkBasin       0.043          0.755          -0.651         0              0              0
 103  Microwave       0.531          1.675          1.437          0              180            0
 104  DiningTable     -0.836         8.404          -1.258         0              0              0
 105  Chair           -1.611         0.002          -1.185         0              45             0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces. | STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn to the right, take a step, then turn left to face the table. | STEP 8: Pick up a piece of the apple. | STEP 9: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 10: Place the apple in the bowl in the sink. | STEP 11: Pick up the bowl in the sink with an apple in it. | STEP 12: Turn around and walk over to the stove. | STEP 13: Place the bowl in the microwave and close the door. | END