Task: Using a knife, cut an apple, have all pieces 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           -1.75          0.900          1.0            0              0              0
   1  Ladle           -2.609         0.165          1.510          0              0              0              58
   2  ButterKnife     -1.207         0.823          0.539          0              0              0              47
   3  Fork            -2.023         0.698          0.295          0              180            0              74
   4  Spoon           -0.169         0.824          1.103          0              0              0              47
   5  Spatula         -2.890         0.838          0.871          0              180            0              47
   6  Egg             -2.910         0.945          1.390          0              90             0              66
   7  Egg             -2.616         1.469          2.485          0              90             0              65
   8  Cup             -2.781         1.445          2.045          0              90             0              65
   9  Cup             -2.726         1.445          2.309          0              90             0              65
  10  Plate           -2.000         0.130          0.440          0              0              0              59
  11  Plate           -2.671         1.148          2.221          0              90             0              65
  12  Knife           -2.840         0.849          0.203          0              0              0              47
  13  Tomato          -2.258         0.873          0.500          0              0              0              47
  14  Tomato          -2.781         0.874          2.133          0              90             0              65
  15  SaltShaker      -2.882         1.429          1.157          0              0              0              55
  16  SaltShaker      -2.491         0.818          0.129          0              0              0              47
  17  PepperShaker    -1.151         0.818          0.129          0              0              0              47
  18  Apple           -0.395         0.129          2.606          0              90             0              67
  19  Apple           -2.810         0.994          1.284          0              90             0              66
  20  Fork            -2.658         0.824          0.707          0              0              0              47
  21  Ladle           -1.465         0.169          0.401          0              0              0              60
  22  Pan             -0.244         0.829          2.075          0              180            0              42
  23  SoapBottle      -2.882         1.432          0.941          0              0              0              55
  24  Pot             -0.531         0.822          2.096          0              0              0              44
  25  Tomato          -0.262         0.106          2.674          0              0              0              67
  26  Potato          -2.616         1.182          2.485          0              90             0              65
  27  SaltShaker      -2.905         1.430          0.605          0              0              0              56
  28  Plate           -2.719         1.439          0.228          0              45             0              53
  29  Spatula         -0.341         0.696          1.194          0              45             0              43
  30  Knife           -1.709         0.849          0.518          0              0              0              47
  31  Egg             -0.429         0.080          2.505          0              0              0              67
  32  Cup             -2.726         1.144          2.045          0              90             0              65
  33  ButterKnife     -1.542         0.823          0.549          0              0              0              47
  34  Lettuce         -1.836         0.741          0.238          0              55.910         0              74
  35  PepperShaker    -0.817         0.818          0.203          0              0              0              47
  36  DishSponge      -2.501         1.848          2.420          0              0              0              57
  37  Bread           -0.979         0.855          0.249          0              29.999         0              47
  38  Spoon           -1.077         0.699          0.377          0              90             0              51
  39  Mug             -2.782         1.440          2.485          0              90             0              65
  40  Bowl            -0.397         0.115          0.914          0              0              0              63
  41  Cabinet         -2.377         2.015          1.720          0              0              0
  42  StoveBurner     -0.244         0.820          2.075          0              180            0
  43  Drawer          -0.402         0.703          1.252          0              0              0
  44  StoveBurner     -0.518         0.820          2.075          0              180            0
  45  Sink            -1.838         0.726          0.343          0              180            0
  46  StoveBurner     -0.244         0.820          1.684          0              0              0
  47  CounterTop      -1.557         0.859          0.277          0              0              0
  48  StoveBurner     -0.518         0.820          1.684          0              0              0
  49  Drawer          -0.404         0.704          0.912          0              0              0
  50  Drawer          -0.861         0.709          0.420          0              0              0
  51  Drawer          -1.133         0.706          0.418          0              0              0
  52  Drawer          -2.589         0.703          1.511          0              0              0
  53  Cabinet         -2.772         1.803          0.508          0              0              0
  54  Cabinet         -2.460         1.803          0.231          0              0              0
  55  Cabinet         -2.781         1.798          0.825          0              0              0
  56  Cabinet         -2.781         1.798          0.815          0              0              0
  57  Cabinet         -2.377         2.009          2.581          0              0              0
  58  Cabinet         -2.442         0.385          1.672          0              0              0
  59  Cabinet         -2.238         0.385          0.564          0              0              0
  60  Cabinet         -1.286         0.385          0.564          0              0              0
  61  Cabinet         -1.262         0.385          0.565          0              0              0
  62  Cabinet         -0.734         0.385          0.565          0              0              0
  63  Cabinet         -0.549         0.385          0.751          0              0              0
  64  Cabinet         -0.549         0.385          1.412          0              0              0
  65  Fridge          -2.782         0.0            2.221          0              0              0
  66  Microwave       -2.794         0.812          1.348          0              90             0
  67  GarbageCan      -0.329         2.205          2.606          0              0              0
  68  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  69  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  70  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  71  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  72  Window          -1.720         1.342          -0.208         90             0              0
  73  Toaster         -0.171         0.812          0.735          0              270            0
  74  SinkBasin       -1.745         0.687          0.295          0              0              0
  75  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  76  LightSwitch     -0.615         1.378          3.0            0              180            0
  77  Faucet          -1.686         0.954          0.176          0              236.223        0
  78  Stool           -1.008         0.008          1.955          0              18.279         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn left and all the way around until you are facing the sink,  | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn around and then turn left to face the microwave. | STEP 4: Open the microwave door and slice the apple. | STEP 5: Put the knife in the microwave, placed, horizontally, in front of the apple with the yellow handle on the left and the knife tip pointed to the right. | STEP 6: In the microwave, pick up the back left piece of the apple and shut the microwave door. | STEP 7: Turn right for three steps, turn left to face the refrigerator. | STEP 8: Open the refrigerator door, put the apple in the front center of the second shelf with the uncut side facing out, shut the refrigerator door, wait a few seconds and open the door, take out the apple and shut the door. | STEP 9: Turn left, take three steps and turn right to face the microwave.  | STEP 10: Open the microwave door and place the apple to the top left of the microwave. | END