Task: Cut an apple, cook a piece of apple in microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -0.75          0              180            0
   1  Pan             1.007          0.962          0.561          0              270            0              51
   2  DishSponge      -2.614         0.951          0.704          0              90             0              82
   3  ButterKnife     1.535          0.912          -1.571         0              0              0              49
   4  Fork            -1.791         0.952          0.524          0              90             0              82
   5  Egg             0.649          0.954          -1.516         0              270            0              47
   6  Egg             -2.047         0.546          -1.849         0              0              0              79
   7  Cup             -1.928         0.950          0.704          0              90             0              82
   8  Cup             1.867          0.106          0.385          0              0              0              57
   9  SoapBottle      0.753          0.918          -1.649         0              270            0              47
  10  Tomato          0.908          0.968          -1.449         0              270            0              47
  11  Tomato          -2.31          1.100          -1.806         0              0              0              79
  12  Bowl            0.021          0.105          0.281          0              0              0              59
  13  Bowl            -2.222         1.492          -1.806         0              0              0              79
  14  PepperShaker    0.300          0.908          0.292          0              0              0              48
  15  PepperShaker    -0.267         0.908          -1.406         0              0              0              49
  16  Bread           1.785          0.995          0.375          0              0              0              64
  17  Lettuce         -2.135         1.142          -1.763         0              0              0              79
  18  Apple           -1.791         1.019          0.165          0              90             0              82
  19  Apple           -2.31          0.578          -1.849         0              0              0              79
  20  Bread           -0.096         0.995          0.375          0              0              0              48
  21  Knife           0.035          0.937          0.458          0              180            0              48
  22  Fork            -0.150         0.773          -1.505         0              0              0              52
  23  Bowl            1.681          1.328          -1.846         0              180            0              65
  24  Kettle          -0.055         0.9            0.643          0              0              0              48
  25  Cup             -1.959         0.509          -1.677         0              0              0              79
  26  Tomato          -2.065         1.001          0.435          0              90             0              82
  27  SoapBottle      -0.427         0.068          0.569          0              90             0              78
  28  Plate           -2.614         0.953          0.345          0              90             0              82
  29  Pot             -2.383         0.94           0.583          0              0              0              82
  30  Spatula         -2.065         0.967          0.165          0              180            0              82
  31  PaperTowelRoll  -0.359         1.016          -1.654         0              0              0              49
  32  Egg             -0.923         1.050          -1.737         0              0              0              71
  33  Lettuce         1.658          1.002          -1.489         0              0              0              49
  34  SaltShaker      0.432          0.908          0.292          0              0              0              48
  35  PepperShaker    -1.928         0.948          0.255          0              90             0              82
  36  Apple           -0.296         0.137          0.526          0              90             0              78
  37  ButterKnife     -2.340         0.952          0.255          0              90             0              82
  38  Potato          -1.872         1.522          -1.849         0              0              0              79
  39  Pan             -0.343         1.328          -1.809         0              90             0              43
  40  DishSponge      -2.203         0.951          0.614          0              90             0              82
  41  Spoon           -1.791         0.953          0.255          0              180            0              82
  42  Mug             0.167          0.907          0.209          0              0              0              48
  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 right, go forward, turn right and go to the table | STEP 2: Pick up the knife on the table | STEP 3: Turn around, go to the fridge | STEP 4: Cut the apple in the fridge, close the fridge | STEP 5: Look down, open the fridge  | STEP 6: Put the knife in the fridge | STEP 7: Close the fridge, look up | STEP 8: Open the fridge, pick up an apple piece | STEP 9: Turn left, go forward, turn right at the microwave | STEP 10: Put the apple piece in the microwave, start the microwave, wait, pick up the apple piece from the microwave | STEP 11: Turn right, go forward, turn left at the fridge | STEP 12: Put the apple in the fridge | END