Task: Cut an apple and cool a piece of apple

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -0.75          0              90             0
   1  Kettle          1.830          0.109          0.274          0              0              0              64
   2  Potato          0.341          0.812          -1.648         0              270            0              72
   3  ButterKnife     -2.203         0.952          0.345          0              90             0              82
   4  Pot             1.361          0.962          0.561          0              270            0              54
   5  Spatula         1.907          0.927          0.209          0              0              0              64
   6  Egg             -2.614         0.987          0.255          0              90             0              82
   7  Plate           1.535          0.913          -1.489         0              0              0              49
   8  SoapBottle      -2.203         0.950          0.255          0              90             0              82
   9  Bowl            -0.451         0.911          -1.737         0              0              0              49
  10  Bowl            -2.222         0.510          -1.806         0              0              0              79
  11  SaltShaker      -0.644         1.325          -1.883         0              180            0              43
  12  SaltShaker      0.432          0.908          0.209          0              0              0              48
  13  PepperShaker    0.328          0.106          0.270          0              0              0              60
  14  Lettuce         -0.175         1.002          -1.820         0              0              0              49
  15  Lettuce         0.035          1.002          0.292          0              0              0              48
  16  Mug             1.462          1.323          -1.846         0              180            0              65
  17  Mug             -1.928         0.947          0.255          0              90             0              82
  18  Apple           1.658          0.979          -1.737         0              0              0              49
  19  Apple           -0.923         1.082          -1.770         0              0              0              71
  20  Bread           -2.340         1.035          0.345          0              90             0              82
  21  Knife           0.856          0.944          -1.649         0              0              0              47
  22  Fork            1.846          0.912          0.458          0              180            0              64
  23  Bowl            -1.959         0.780          -1.720         0              0              0              79
  24  Kettle          -2.203         0.953          0.614          0              90             0              82
  25  Cup             1.167          0.910          -1.737         0              0              0              49
  26  Tomato          -2.31          0.829          -1.806         0              0              0              79
  27  SoapBottle      0.649          0.918          -1.715         0              270            0              47
  28  Plate           1.724          0.913          0.540          0              0              0              64
  29  Pot             1.007          0.962          0.561          0              270            0              51
  30  Spatula         -2.203         0.967          0.165          0              180            0              82
  31  PaperTowelRoll  -0.329         0.174          0.526          0              90             0              78
  32  Egg             0.856          0.954          -1.516         0              270            0              47
  33  Lettuce         -1.928         1.042          0.524          0              90             0              82
  34  SaltShaker      -0.096         0.908          0.292          0              0              0              48
  35  PepperShaker    -2.614         0.948          0.345          0              90             0              82
  36  Apple           0.804          0.986          -1.715         0              270            0              47
  37  ButterKnife     -2.614         0.952          0.614          0              270            0              82
  38  Potato          -2.135         1.082          -1.720         0              0              0              79
  39  Pan             1.022          0.959          0.288          0              219.190        0              61
  40  DishSponge      1.824          0.772          0.273          0              0              0              50
  41  Spoon           1.535          0.913          -1.820         0              0              0              49
  42  Mug             -2.614         0.947          0.435          0              90             0              82
  43  Cabinet         -0.193         1.688          -1.648         0              180            0
  44  StoveBurner     1.360          0.957          0.293          0              180            0
  45  Drawer          0.499          0.792          0.296          0              0              0
  46  Cabinet         0.095          0.400          -1.352         0              180            0
  47  Sink            0.711          0.817          -1.772         0              270            0
  48  CounterTop      0.280          0.947          0.458          0              0              0
  49  CounterTop      -0.680         0.947          -1.654         0              0              0
  50  Drawer          1.825          0.792          0.296          0              0              0
  51  StoveBurner     1.007          0.957          0.561          0              270            0
  52  Drawer          -0.150         0.792          -1.496         0              0              0
  53  Drawer          -0.586         0.792          -1.496         0              0              0
  54  StoveBurner     1.360          0.957          0.561          0              270            0
  55  Drawer          0.024          0.792          0.296          0              0              0
  56  Cabinet         1.079          0.400          -1.349         0              180            0
  57  Cabinet         1.669          0.402          0.151          0              0              0
  58  Cabinet         0.055          0.402          -1.351         0              0              0
  59  Cabinet         -0.180         0.402          0.151          0              0              0
  60  Cabinet         0.729          0.402          0.151          0              0              0
  61  StoveBurner     1.007          0.957          0.293          0              180            0
  62  Drawer          -1.100         0.792          -1.496         0              0              0
  63  Cabinet         -0.396         0.402          -1.351         0              0              0
  64  CounterTop      1.776          0.947          0.458          0              0              0
  65  Cabinet         1.974          1.688          -1.648         0              180            0
  66  Cabinet         -0.820         0.400          -1.349         0              180            0
  67  Toaster         0.305          0.900          0.552          0              180            0
  68  LightSwitch     -2.756         1.307          -0.987         0              90             0
  69  Window          0.582          1.613          -1.967         90             0              0
  70  Window          1.969          1.5            -0.615         90             270            0
  71  Microwave       -1.037         0.900          -1.723         0              0              0
  72  SinkBasin       0.377          0.765          -1.655         0              270            0
  73  CoffeeMachine   0.618          0.900          0.600          0              180            0
  74  StoveKnob       1.246          0.913          0.118          45             180            0
  75  StoveKnob       1.373          0.913          0.118          45             180            0
  76  StoveKnob       0.995          0.913          0.118          45             180            0
  77  StoveKnob       1.126          0.913          0.118          45             180            0
  78  GarbageCan      -0.368         -0.029         0.539          0              90             0
  79  Fridge          -2.134         0.0            -1.690         0              0              0
  80  Faucet          0.549          1.046          -1.833         0              232.527        0
  81  Stool           -1.475         0.000          0.414          1.233          280.375        0
  82  DiningTable     -2.255         -0.004         0.432          0              0              0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn around, go forward, turn right and go to the table | STEP 2: Pick up the knife on the table  | STEP 3: Turn right, go forward, turn right and go to the microwave | STEP 4: Cut the apple in the microwave | STEP 5: Turn down on the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn up on the microwave | STEP 8: Pick up a slice of apple from the microwave | STEP 9: 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 left and go to the microwave | STEP 12: Put the apple piece in the microwave | END