Task: Cut an apple, cook 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           0.75           0.900          2.0            0              90             0
   1  DishSponge      -0.467         0.759          6.354          0              270            0              91
   2  DishSponge      0.305          0.759          6.291          0              270            0              91
   3  ButterKnife     1.582          0.992          3.324          0              0              0              55
   4  Kettle          1.456          1.578          1.410          0              0              0              65
   5  Pot             1.322          0.141          2.646          0              0              0              67
   6  Pot             1.32           0.988          3.848          0              0              0              54
   7  Fork            -0.312         0.760          6.541          0              180            0              91
   8  Fork            -0.221         0.760          6.787          0              90             0              91
   9  Cup             -0.510         0.756          6.565          0              135            0              91
  10  Cup             2.009          1.511          5.626          0              270            0              77
  11  SoapBottle      1.135          0.992          4.808          0              0              0              56
  12  Bowl            0.562          1.578          0.295          0              0              0              69
  13  PepperShaker    0.192          0.755          6.565          0              225            0              91
  14  PepperShaker    1.657          0.135          2.424          0              0              0              67
  15  SaltShaker      1.135          0.987          4.716          0              0              0              56
  16  SaltShaker      1.403          0.987          0.668          0              0              0              55
  17  Mug             0.273          1.092          0.180          0              90             0              71
  18  Apple           2.009          1.590          5.501          0              270            0              77
  19  Apple           -0.159         0.834          6.632          0              0              0              91
  20  Bowl            0.958          1.578          0.295          0              0              0              62
  21  Bread           1.099          1.048          0.434          0              0              0              55
  22  Egg             -0.618         0.810          6.284          0              225            0              91
  23  Knife           -0.487         0.789          6.807          0              135            0              91
  24  Fork            -0.401         0.760          6.456          0              225            0              91
  25  Apple           -0.284         0.834          6.632          0              0              0              91
  26  Kettle          1.238          0.141          3.143          0              0              0              66
  27  Plate           -0.611         0.993          0.303          0              0              0              55
  28  SaltShaker      -0.014         0.139          0.201          0              0              0              64
  29  Lettuce         -0.399         0.848          6.895          0              135            0              91
  30  SoapBottle      1.582          0.992          3.511          0              0              0              55
  31  Spatula         1.124          0.786          3.223          0              90             0              48
  32  PaperTowelRoll  -0.621         0.864          6.666          0              270            0              91
  33  Pot             1.317          0.988          4.294          0              0              0              50
  34  Potato          -0.332         0.794          6.217          0              225            0              91
  35  ButterKnife     -0.096         0.760          6.787          0              0              0              91
  36  PepperShaker    0.923          0.987          0.670          0              0              0              55
  37  Pan             1.562          0.988          3.848          0              0              0              49
  38  Tomato          2.055          0.130          6.528          0              0              0              79
  39  DishSponge      1.497          0.890          2.627          0              90             0              78
  40  Cup             0.104          0.756          6.653          0              225            0              91
  41  Spoon           0.059          0.761          6.698          0              45             0              91
  42  Mug             0.064          1.092          0.213          0              0              0              71
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn left, go forward and turn right at the table | STEP 2: Pick up the knife on the table | STEP 3: Go around the table to the other side of the table | STEP 4: Cut the apple closer to the edge of the table | STEP 5: Go a bit forward, turn left, go to the fridge | STEP 6: Open the upper door and put the knife in the top shelf | STEP 7: Close the door, turn around, go forward, turn right at the end of the table, move a bit forward and turn right | STEP 8: Pick up a piece of the apple | STEP 9: Turn right, go forward a bit, turn left, go forward a bit, turn right and go to the microwave | STEP 10: Open the microwave, put the apple in, start the microwave, open the door of microwave, take the apple out | STEP 11: Turn around, go forward, turn right at the fridge | STEP 12: Open the upper door, put the apple on the top shelf, close the door | END