Task: slice an apple in the waste bin and heat it up so it can go in the refrigerator for storage

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          -0.5           0              0              0
   1  Kettle          0.377          0.783          -1.648         0              270            0              77
   2  Potato          0.701          0.949          -1.715         0              270            0              52
   3  Potato          -0.427         0.100          0.439          0              90             0              83
   4  DishSponge      0.551          0.772          0.338          0              0              0              50
   5  DishSponge      -1.791         0.951          0.614          0              90             0              87
   6  ButterKnife     -2.477         0.952          0.524          0              90             0              87
   7  Pot             1.007          0.962          0.561          0              270            0              56
   8  Fork            0.908          0.920          -1.649         0              90             0              52
   9  Spoon           1.289          0.913          -1.737         0              90             0              54
  10  Spatula         -1.791         0.967          0.345          0              270            0              87
  11  SoapBottle      0.804          0.918          -1.449         0              270            0              52
  12  SoapBottle      -2.203         0.950          0.345          0              90             0              87
  13  Tomato          -2.203         1.001          0.165          0              90             0              87
  14  Bowl            -0.147         0.110          -1.471         0              0              0              63
  15  Bowl            0.504          0.109          0.346          0              0              0              65
  16  SaltShaker      1.658          0.908          -1.820         0              0              0              54
  17  PepperShaker    -2.065         0.948          0.165          0              90             0              87
  18  PepperShaker    0.035          0.908          0.292          0              0              0              53
  19  Bread           -2.047         0.863          -1.763         0              0              0              84
  20  Lettuce         1.785          1.002          0.458          0              0              0              69
  21  Lettuce         -2.222         1.582          -1.763         0              0              0              84
  22  Apple           0.804          0.986          -1.715         0              270            0              52
  23  Apple           -0.296         0.137          0.526          0              90             0              83
  24  Apple           1.535          0.979          -1.654         0              0              0              54
  25  Bread           -0.096         0.995          0.375          0              0              0              53
  26  Knife           0.167          0.937          0.623          0              0              0              53
  27  Fork            -0.359         0.912          -1.571         0              0              0              54
  28  Bowl            1.781          0.911          -1.489         0              0              0              54
  29  Kettle          -2.614         0.953          0.435          0              270            0              87
  30  Cup             -0.544         0.910          -1.737         0              0              0              54
  31  Tomato          -2.135         1.100          -1.677         0              0              0              84
  32  SoapBottle      0.009          0.910          -1.406         0              0              0              54
  33  Plate           1.608          1.329          -1.809         0              180            0              70
  34  Pot             1.361          0.962          0.561          0              270            0              59
  35  Spatula         -2.477         0.967          0.255          0              90             0              87
  36  PaperTowelRoll  -1.928         1.056          0.704          0              90             0              87
  37  Egg             -0.872         1.050          -1.737         0              0              0              76
  38  Lettuce         -0.267         1.002          -1.820         0              0              0              54
  39  SaltShaker      -0.729         0.107          -1.434         0              0              0              68
  40  PepperShaker    -2.065         0.948          0.524          0              90             0              87
  41  Apple           0.300          0.979          0.292          0              0              0              53
  42  ButterKnife     -2.203         0.952          0.255          0              90             0              87
  43  Potato          -2.614         0.982          0.614          0              90             0              87
  44  Pan             1.022          0.959          0.288          0              219.190        0              66
  45  DishSponge      0.332          0.108          -1.584         0              180            0              51
  46  Spoon           0.701          0.920          -1.516         0              270            0              52
  47  Mug             -2.340         0.947          0.524          0              90             0              87
  48  Cabinet         -0.193         1.688          -1.648         0              180            0
  49  StoveBurner     1.360          0.957          0.293          0              180            0
  50  Drawer          0.499          0.792          0.296          0              0              0
  51  Cabinet         0.095          0.400          -1.352         0              180            0
  52  Sink            0.711          0.817          -1.772         0              270            0
  53  CounterTop      0.280          0.947          0.458          0              0              0
  54  CounterTop      -0.680         0.947          -1.654         0              0              0
  55  Drawer          1.825          0.792          0.296          0              0              0
  56  StoveBurner     1.007          0.957          0.561          0              270            0
  57  Drawer          -0.150         0.792          -1.496         0              0              0
  58  Drawer          -0.586         0.792          -1.496         0              0              0
  59  StoveBurner     1.360          0.957          0.561          0              270            0
  60  Drawer          0.024          0.792          0.296          0              0              0
  61  Cabinet         1.079          0.400          -1.349         0              180            0
  62  Cabinet         1.669          0.402          0.151          0              0              0
  63  Cabinet         0.055          0.402          -1.351         0              0              0
  64  Cabinet         -0.180         0.402          0.151          0              0              0
  65  Cabinet         0.729          0.402          0.151          0              0              0
  66  StoveBurner     1.007          0.957          0.293          0              180            0
  67  Drawer          -1.100         0.792          -1.496         0              0              0
  68  Cabinet         -0.396         0.402          -1.351         0              0              0
  69  CounterTop      1.776          0.947          0.458          0              0              0
  70  Cabinet         1.974          1.688          -1.648         0              180            0
  71  Cabinet         -0.820         0.400          -1.349         0              180            0
  72  Toaster         0.305          0.900          0.552          0              180            0
  73  LightSwitch     -2.756         1.307          -0.987         0              90             0
  74  Window          0.582          1.613          -1.967         90             0              0
  75  Window          1.969          1.5            -0.615         90             270            0
  76  Microwave       -1.037         0.900          -1.723         0              0              0
  77  SinkBasin       0.377          0.765          -1.655         0              270            0
  78  CoffeeMachine   0.618          0.900          0.600          0              180            0
  79  StoveKnob       1.246          0.913          0.118          45             180            0
  80  StoveKnob       1.373          0.913          0.118          45             180            0
  81  StoveKnob       0.995          0.913          0.118          45             180            0
  82  StoveKnob       1.126          0.913          0.118          45             180            0
  83  GarbageCan      -0.368         -0.029         0.539          0              90             0
  84  Fridge          -2.134         0.0            -1.690         0              0              0
  85  Faucet          0.549          1.046          -1.833         0              232.527        0
  86  Stool           -1.475         0.000          0.414          1.233          280.375        0
  87  DiningTable     -2.255         -0.004         0.432          0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: turn left, then go straight to the door, after which you should face the table on the right | STEP 2: pick up the knife on the white table | STEP 3: turn right, then go straight to the green waste bin | STEP 4: slice the apple in the waste bin | STEP 5: place the knife in the waste bin next to the apple slices | STEP 6: pick up a slice of apple in the waste bin | STEP 7: turn around, then move to the opposite side of the kitchen to face the microwave | STEP 8: place the apple slice in the microwave to the right of the egg, let it heat for several seconds, then open the door and take the slice out | STEP 9: face the refrigerator to the right of the microwave | STEP 10: open the refrigerator and place the apple slice on the middle shelf, then close the door | END