Task: Cut an apple, cool a piece of the apple, put 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           2.0            0.900          1.5            0              0              0
   1  Potato          -2.510         0.915          2.884          0              0              0              55
   2  Book            0.665          1.650          -1.712         0              0              0              64
   3  Book            -1.627         0.908          0.037          0              0              0              53
   4  ButterKnife     -1.738         0.912          -0.288         0              0              0              53
   5  Pot             1.328          0.957          -1.688         0              180            0              56
   6  Fork            -2.382         0.879          3.183          0              135            0              55
   7  Fork            -2.072         0.912          -0.939         0              0              0              53
   8  Spoon           -2.510         0.879          2.715          0              0              0              55
   9  Cup             0.307          0.801          2.194          0              180            0              78
  10  Cup             1.210          1.759          -1.596         0              0              0              77
  11  SoapBottle      0.525          0.912          -1.776         0              0              0              53
  12  SoapBottle      -3.165         0.879          3.147          0              270            0              55
  13  Tomato          -0.377         0.436          1.996          0              180            0              78
  14  Tomato          0.307          0.436          2.054          0              180            0              78
  15  SaltShaker      -1.686         0.115          -0.691         0              0              0              58
  16  Mug             -1.054         1.649          -1.788         0              90             0              65
  17  Mug             -0.377         1.138          2.246          0              180            0              78
  18  Apple           -2.733         0.929          2.884          0              0              0              55
  19  Apple           -0.330         0.762          -1.573         0              270            0              82
  20  Apple           -2.501         0.933          3.064          0              225            0              55
  21  Book            -2.405         0.871          3.685          0              225            0              55
  22  Fork            -2.300         0.879          2.863          0              135            0              55
  23  Tomato          0.079          0.850          2.251          0              180            0              78
  24  Egg             0.079          0.828          2.080          0              180            0              78
  25  Kettle          0.974          0.957          -1.688         0              180            0              52
  26  Vase            3.741          0.554          1.553          0              270            0              76
  27  Cup             -2.726         0.876          3.393          0              135            0              55
  28  WineBottle      0.663          0.913          -1.674         0              0              0              53
  29  Plate           -2.058         1.661          -1.674         0              0              0              49
  30  Spatula         0.179          0.943          -1.356         0              0              0              50
  31  Potato          -2.501         0.911          3.379          0              135            0              55
  32  Pot             0.974          0.957          -1.419         0              180            0              71
  33  Knife           -1.550         0.739          -1.073         0              90             0              68
  34  SaltShaker      3.586          0.549          1.553          0              270            0              76
  35  PepperShaker    1.760          0.906          -1.437         0              0              0              73
  36  Lettuce         -1.627         0.977          -1.591         0              0              0              53
  37  ButterKnife     -3.165         0.874          3.221          0              270            0              55
  38  Bread           -1.627         0.995          0.363          0              0              0              53
  39  Vase            3.741          0.554          1.760          0              270            0              76
  40  DishSponge      1.301          2.155          -1.750         0              0              0              51
  41  Apple           -2.996         0.933          2.999          0              270            0              55
  42  Pan             1.328          0.957          -1.420         0              180            0              57
  43  Spoon           -2.807         0.875          3.390          0              90             0              55
  44  SoapBottle      0.264          0.114          -1.487         0              0              0              61
  45  Mug             -1.112         0.958          -1.479         0              0              0              90
  46  Statue          -2.072         0.919          -0.614         0              0              0              53
  47  Statue          -2.072         0.910          -1.591         0              0              0              53
  48  Bowl            0.124          0.928          -1.718         0              270            0              50
  49  Cabinet         -2.171         2.009          -1.538         0              0              0
  50  Sink            0.024          0.771          -1.708         0              270            0
  51  Cabinet         1.444          2.259          -1.542         0              0              0
  52  StoveBurner     0.974          0.957          -1.688         0              180            0
  53  CounterTop      -1.866         0.947          -0.614         0              0              0
  54  Cabinet         -2.217         0.373          -1.874         0              0              0
  55  DiningTable     -2.663         0.002          3.208          0              0              0
  56  StoveBurner     1.328          0.957          -1.688         0              180            0
  57  StoveBurner     1.328          0.957          -1.420         0              180            0
  58  Cabinet         -1.478         0.373          -1.235         0              0              0
  59  Cabinet         1.775          0.372          -1.242         0              0              0
  60  Cabinet         0.774          0.372          -1.242         0              0              0
  61  Cabinet         0.375          0.372          -1.242         0              0              0
  62  Cabinet         -0.574         0.372          -1.238         0              0              0
  63  Cabinet         1.775          2.009          -1.542         0              0              0
  64  Cabinet         0.524          2.009          -1.542         0              0              0
  65  Cabinet         -0.714         2.009          -1.542         0              0              0
  66  Cabinet         -1.671         2.009          -1.538         0              0              0
  67  Cabinet         0.854          2.259          -1.542         0              0              0
  68  Drawer          -1.636         0.683          -0.930         0              0              0
  69  Drawer          1.650          0.682          -1.396         0              0              0
  70  Drawer          0.600          0.682          -1.396         0              0              0
  71  StoveBurner     0.974          0.957          -1.419         0              180            0
  72  Drawer          -2.062         0.683          -1.579         0              0              0
  73  CounterTop      1.645          0.945          -1.527         0              0              0
  74  Shelf           3.725          0.880          1.671          0              90             0
  75  LightSwitch     2.830          1.266          -0.748         0              0              0
  76  Shelf           3.726          0.552          1.671          0              90             0
  77  Microwave       1.150          1.655          -1.614         0              0              0
  78  Fridge          -0.035         0.0            2.177          0              180            0
  79  Window          -0.115         1.802          -1.896         90             0              0
  80  Window          -4.009         1.799          0.310          90             90             0
  81  Shelf           3.726          0.172          1.671          0              90             0
  82  SinkBasin       -0.330         0.686          -1.581         0              270            0
  83  GarbageCan      -0.870         -0.001         2.136          0              90             0
  84  StoveKnob       1.089          0.913          -1.243         45             0              0
  85  StoveKnob       1.208          0.913          -1.243         45             0              0
  86  StoveKnob       1.340          0.913          -1.243         45             0              0
  87  StoveKnob       0.961          0.913          -1.243         45             0              0
  88  Toaster         1.637          0.900          -1.673         0              0              0
  89  Chair           -3.505         0.002          3.290          0              105.736        0
  90  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  91  HousePlant      -2.663         0.835          3.209          0              0              0
  92  Faucet          -0.187         0.922          -1.75          0              311.166        0
  93  ShelvingUnit    3.726          0.006          1.671          0              90             0
  94  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  95  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  96  Chair           -2.934         0.002          2.437          0              28.531         0
  97  Chair           -1.698         0.002          3.235          0              245.204        0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn around, go forward, turn right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn right, go forward, turn left, go forward, turn right and go to the table  | STEP 4: Cut the apple on the table  | STEP 5: Turn right, go forward, turn right and go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn right, go forward, turn left, go forward, turn right and go to the table  | STEP 8: Pick up an apple piece from the table  | STEP 9: Turn right, go forward, turn right and go to the fridge | STEP 10: Put the apple piece in the fridge, wait, pick up the apple piece from the fridge | STEP 11: Turn right, go forward, turn right and go to the microwave | STEP 12: Put the apple in the microwave | END