Task: Slice and refrigerate an apple

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          3.0            0              0              0
   1  Potato          -2.888         0.658          4.204          0              90             0              67
   2  DishSponge      -2.377         0.900          2.309          0              0              0              71
   3  DishSponge      -1.878         0.661          0.519          0              0              0              53
   4  Fork            -2.628         0.936          3.766          0              0              0              57
   5  Fork            -0.380         0.662          0.519          0              270            0              39
   6  Cup             -2.764         1.186          4.649          0              90             0              67
   7  Knife           -2.377         0.926          2.573          0              90             0              71
   8  Knife           -0.487         0.688          0.355          0              90             0              39
   9  SoapBottle      -2.037         0.927          0.602          0              0              0              50
  10  SoapBottle      -2.789         0.900          2.573          0              0              0              71
  11  Tomato          -2.850         0.117          0.385          0              26.101         0              64
  12  Bowl            -2.480         0.897          2.706          0              0              0              71
  13  Bowl            -2.170         0.924          0.348          0              0              0              50
  14  PepperShaker    -0.314         0.896          2.731          0              0              0              73
  15  PepperShaker    -3.022         0.931          3.209          0              0              0              57
  16  Lettuce         -0.486         0.980          2.329          0              0              0              73
  17  Apple           -0.314         0.956          2.530          0              0              0              73
  18  Egg             -2.995         0.933          2.045          0              0              0              71
  19  Plate           -2.831         0.303          4.427          0              90             0              67
  20  Fork            -0.572         0.901          3.133          0              0              0              73
  21  Bread           -0.486         0.957          2.932          0              0              0              73
  22  Apple           -2.995         0.956          2.441          0              0              0              71
  23  Lettuce         -2.805         1.266          4.501          0              90             0              67
  24  Spatula         -2.785         0.950          3.302          0              180            0              57
  25  Knife           -0.400         0.926          2.530          0              90             0              73
  26  Potato          -2.805         1.212          4.204          0              90             0              67
  27  Tomato          -0.143         0.964          2.731          0              0              0              73
  28  Cup             -1.636         1.773          0.251          0              0              0              47
  29  SaltShaker      -2.995         0.896          2.177          0              0              0              71
  30  PepperShaker    -0.400         0.896          3.334          0              0              0              73
  31  ButterKnife     -2.583         0.900          2.441          0              0              0              71
  32  SoapBottle      -2.892         0.900          2.309          0              0              0              71
  33  Pan             -0.250         0.926          4.651          0              0              0              52
  34  DishSponge      -2.480         0.900          2.177          0              0              0              71
  35  Pot             -0.535         0.928          4.274          0              0              0              54
  36  Spoon           -2.943         0.936          3.209          0              0              0              57
  37  Mug             -2.778         1.001          3.714          0              90             0              70
  38  Bowl            -0.350         1.015          0.203          0              0              0              69
  39  Drawer          -0.325         0.696          0.413          0              0              0
  40  Cabinet         -0.595         0.490          0.648          0              0              0
  41  Cabinet         -0.555         0.490          0.646          0              0              0
  42  Cabinet         -1.591         0.490          0.646          0              0              0
  43  Cabinet         -1.554         0.490          0.646          0              0              0
  44  Cabinet         -2.550         0.490          0.646          0              0              0
  45  Cabinet         -1.514         2.046          0.392          0              0              0
  46  Cabinet         -2.474         2.046          0.392          0              0              0
  47  Cabinet         -1.478         2.046          0.392          0              0              0
  48  Cabinet         -0.518         2.046          0.392          0              0              0
  49  Cabinet         -0.479         2.046          0.392          0              0              0
  50  CounterTop      -1.366         0.952          0.349          0              0              0
  51  Sink            -1.108         0.926          0.340          0              0              0
  52  StoveBurner     -0.254         0.922          4.672          0              0              0
  53  Drawer          -1.824         0.696          0.413          0              0              0
  54  StoveBurner     -0.535         0.922          4.274          0              0              0
  55  StoveBurner     -0.254         0.922          4.274          0              0              0
  56  StoveBurner     -0.536         0.922          4.672          0              0              0
  57  CounterTop      -2.780         0.971          3.487          0              0              0
  58  Drawer          -2.323         0.696          0.413          0              0              0
  59  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  60  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  63  Toaster         -0.286         0.861          3.520          0              270            0
  64  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  65  LightSwitch     -0.064         1.447          1.996          0              270            0
  66  Window          -3.075         1.593          1.361          90             90             0
  67  Fridge          -2.802         0.0            4.427          0              0              0
  68  SinkBasin       -1.106         0.785          0.337          0              0              0
  69  Microwave       -0.358         0.917          0.224          0              0              0
  70  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  71  DiningTable     -2.733         -0.003         2.607          0              270            0
  72  Faucet          -1.077         0.920          0.028          270            270            0
  73  DiningTable     -0.488         -0.003         3.182          0              270            0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Turn to the left, walk to the table | STEP 2: Pick the knife up from the table with your hand | STEP 3: Turn up to the top of the table, where the apple is located | STEP 4: Use the knife to slice the apple on the table | STEP 5: Turn back to where the knife was originally set on the table | STEP 6: Set the knife down on the table | STEP 7: Turn up to the top of the table, where the apple is located | STEP 8: Pick up a slice of the apple off the table | STEP 9: Turn to the left, walk to the microwave on the back side of the counter | STEP 10: Open the microwave, place the apple slice into the microwave, cook for a short time, when it's done, open the microwave, remove the apple from the microwave | STEP 11: Turn to the right, walk back to the fridge | STEP 12: Open the fridge, place the apple in the fridge | END