Task: place a slightly cooled apple wedge in the microwave while abandoning the knife in the refrigerator

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          2.0            0              180            0
   1  Potato          0.661          0.935          -1.415         0              0              0              68
   2  Potato          1.988          1.030          -0.756         0              270            0              89
   3  CellPhone       1.900          0.909          1.182          0              0              0              68
   4  Ladle           2.030          0.955          -1.415         0              0              0              68
   5  Kettle          1.218          1.680          -1.652         0              0              0              67
   6  Kettle          -0.137         0.115          -1.534         0              0              0              47
   7  DishSponge      1.464          1.679          -1.652         0              0              0              67
   8  Spatula         1.660          0.710          0.478          0              90             0              69
   9  Spatula         0.107          0.940          0.041          0              0              0              76
  10  Pot             1.975          0.938          0.819          0              180            0              78
  11  Egg             -1.551         0.968          -1.063         0              0              0              68
  12  Cup             1.956          1.004          -0.599         0              270            0              89
  13  Plate           1.802          0.910          -1.318         0              0              0              68
  14  Plate           0.170          0.759          -1.435         0              0              0              92
  15  Knife           0.000          0.947          0.738          0              0              0              76
  16  SoapBottle      -0.844         0.915          -1.513         0              0              0              68
  17  SoapBottle      1.802          0.915          -1.610         0              0              0              68
  18  SaltShaker      1.885          1.655          -0.977         0              270            0              56
  19  SaltShaker      -1.764         1.658          -1.056         0              90             0              55
  20  Bread           0.214          1.006          0.506          0              0              0              76
  21  Bread           0.000          1.006          1.202          0              0              0              76
  22  Mug             1.892          1.001          -0.704         0              270            0              89
  23  SoapBottle      1.195          0.112          -1.352         0              0              0              61
  24  Cup             0.214          0.923          0.738          0              0              0              76
  25  Pot             -0.213         0.929          -0.190         0              0              0              76
  26  Fork            1.661          0.237          -0.088         0              0              0              51
  27  Ladle           -0.175         0.804          -1.435         0              0              0              92
  28  Kettle          0.972          1.680          -1.577         0              0              0              67
  29  Egg             -1.634         0.620          -0.175         0              90             0              91
  30  Plate           -1.697         1.467          0.013          0              90             0              91
  31  Pan             1.765          0.938          0.384          0              180            0              71
  32  Lettuce         0.000          1.002          0.273          0              0              0              76
  33  Spatula         -0.106         0.940          1.202          0              0              0              76
  34  Apple           -0.175         0.813          -1.546         0              0              0              92
  35  Knife           0.321          0.947          0.506          0              90             0              76
  36  SaltShaker      2.030          0.907          -1.610         0              0              0              68
  37  PepperShaker    1.862          0.221          1.219          0              0              0              77
  38  CellPhone       1.812          0.139          1.088          0              0              0              77
  39  ButterKnife     0.889          0.911          -1.415         0              0              0              68
  40  Bread           -0.213         1.006          0.273          0              0              0              76
  41  Tomato          -1.749         0.894          0.295          0              90             0              91
  42  Potato          -1.796         0.065          1.329          0              270            0              82
  43  DishSponge      1.815          0.579          0.736          0              0              0              69
  44  Spoon           -0.088         0.761          -1.380         0              0              0              92
  45  Mug             -1.803         1.464          -0.269         0              90             0              91
  46  Bowl            -0.320         0.924          0.738          0              0              0              76
  47  Cabinet         -0.495         0.474          -1.149         0              0              0
  48  Window          -0.010         1.582          -1.821         0              0              0
  49  Drawer          0.805          0.475          -1.159         0              0              0
  50  StoveBurner     1.764          0.902          0.601          0              270            0
  51  Drawer          1.5            0.196          -0.019         0              0              0
  52  Drawer          1.5            0.629          -0.018         0              0              0
  53  Drawer          1.5            0.602          -0.019         0              270            0
  54  StoveBurner     1.975          0.902          0.384          0              270            0
  55  Cabinet         -1.703         2.022          -1.453         0              90             0
  56  Cabinet         1.789          2.019          -0.819         0              270            0
  57  Cabinet         0.494          0.474          -1.149         0              0              0
  58  Cabinet         0.409          0.475          0.444          0              0              0
  59  Drawer          -0.696         0.475          -1.159         0              0              0
  60  Drawer          1.5            0.140          0.599          0              270            0
  61  Cabinet         1.389          0.474          -1.149         0              0              0
  62  Drawer          1.5            0.305          0.600          0              0              0
  63  StoveBurner     1.975          0.902          0.601          0              270            0
  64  Drawer          1.5            0.429          -0.019         0              0              0
  65  StoveBurner     1.764          0.902          0.819          0              270            0
  66  Drawer          1.5            0.519          1.220          0              0              0
  67  Cabinet         1.705          2.019          -1.449         0              0              0
  68  CounterTop      0.002          0.947          -1.513         0              0              0
  69  Drawer          1.5            0.629          0.605          0              0              0
  70  Cabinet         -0.627         2.019          -1.449         0              0              0
  71  StoveBurner     1.764          0.902          0.384          0              270            0
  72  Drawer          1.5            0.538          0.600          0              0              0
  73  Sink            0.0            0.893          -1.434         0              0              0
  74  Drawer          1.5            0.782          1.220          0              270            0
  75  Window          2.217          1.565          -0.384         0              0              0
  76  CounterTop      -0.014         0.961          0.505          0              0              0
  77  Drawer          1.5            0.200          1.220          0              0              0
  78  StoveBurner     1.975          0.902          0.819          0              270            0
  79  Window          -3.240         1.616          2.693          0              270            0
  80  Cabinet         -1.389         0.474          -1.149         0              0              0
  81  LightSwitch     -0.153         1.291          3.700          0              180            0
  82  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  83  StoveKnob       1.602          0.917          0.570          0              270            180
  84  StoveKnob       1.602          0.917          0.625          0              270            180
  85  StoveKnob       1.602          0.917          0.739          0              270            180
  86  StoveKnob       1.602          0.917          0.680          0              270            180
  87  StoveKnob       1.602          0.917          0.462          0              270            180
  88  StoveKnob       1.602          0.917          0.517          0              270            180
  89  Microwave       1.932          0.899          -0.766         0              270            0
  90  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  91  Fridge          -1.764         0.0            0.014          0              90             0
  92  SinkBasin       -0.014         0.736          -1.435         0              0              0
  93  Toaster         1.977          0.900          -0.336         0              270            0
  94  Faucet          -0.020         1.137          -1.605         0              270            0
  95  Chair           -9.354         0.000          1.242          0              180            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: go forward slightly, then turn right to face the knife in front of the loaf of bread and grey cup | STEP 2: take the knife from the counter | STEP 3: turn left and cross the room to the sink | STEP 4: cut the apple in the sink | STEP 5: cross the room to the refrigerator | STEP 6: place the knife on the top shelf of the refrigerator, to the left of the tomato, and close the door | STEP 7: turn left and return to the kitchen sink | STEP 8: take an apple wedge from the sink | STEP 9: return to the refrigerator | STEP 10: place the apple wedge to the left of the knife in the refrigerator and close the door, wait 8 seconds, and remove the apple wedge, closing the door afterward. | STEP 11: turn around and cross the room to the microwave | STEP 12: place the apple wedge in the front right corner of the microwave | END