Task: To heat an apple and place it in the fridge.

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           0.900          0.75           0              90             0
   1  Pan             1.845          0.948          -0.757         0              0              0              59
   2  Pan             1.567          0.948          -0.757         0              0              0              44
   3  Ladle           0.294          0.971          0.305          0              0              0              79
   4  DishSponge      1.850          0.913          -1.834         0              0              0              62
   5  DishSponge      1.464          0.880          2.456          0              0              0              88
   6  ButterKnife     0.294          0.930          1.220          0              0              0              79
   7  WineBottle      0.522          0.931          0.991          0              0              0              79
   8  Fork            0.294          0.927          0.534          0              0              0              79
   9  Egg             2.009          0.967          -1.563         0              0              0              62
  10  Egg             1.466          0.967          -1.329         0              0              0              62
  11  Plate           1.572          0.123          -1.332         0              270            0              56
  12  Plate           1.566          0.556          2.534          0              0              0              82
  13  Knife           1.850          0.936          -2.002         0              0              0              62
  14  Knife           0.180          0.953          0.305          0              90             0              79
  15  Bowl            -0.137         0.761          -2.071         0              90             0              74
  16  Bowl            -0.160         0.927          0.991          0              0              0              79
  17  Lettuce         0.066          1.011          0.305          0              0              0              79
  18  SaltShaker      0.066          0.926          1.220          0              0              0              79
  19  Mug             -0.668         0.908          -2.267         0              0              0              62
  20  Apple           -0.160         0.997          0.305          0              0              0              79
  21  Potato          -0.160         0.956          1.220          0              0              0              79
  22  Bowl            -1.438         1.180          -0.495         0              90             0              70
  23  SoapBottle      1.771          0.879          2.456          0              0              0              89
  24  Fork            1.828          0.914          -1.212         0              0              0              62
  25  Ladle           0.180          0.975          1.448          0              0              0              79
  26  Bread           0.066          0.972          0.762          0              0              0              79
  27  Lettuce         0.408          1.008          0.076          0              0              0              79
  28  WineBottle      1.913          1.659          -1.117         0              270            0              53
  29  Spatula         -0.160         0.945          0.762          0              270            0              79
  30  Plate           1.557          0.916          -1.680         0              0              0              62
  31  SaltShaker      1.877          0.549          2.586          0              0              0              82
  32  Pot             -0.117         0.921          1.5            0              0              0              79
  33  Cup             -1.610         1.183          -0.910         0              90             0              70
  34  PepperShaker    -0.876         0.909          -2.134         0              0              0              62
  35  Pan             -1.438         0.859          -0.495         0              0              0              70
  36  ButterKnife     0.408          0.926          0.991          0              0              0              79
  37  Tomato          1.829          0.138          0.160          0              0              0              63
  38  DishSponge      1.669          0.880          2.483          0              0              0              82
  39  Egg             1.871          0.140          0.283          0              0              0              63
  40  Spoon           -0.230         0.914          -1.725         0              0              0              62
  41  Knife           -0.210         0.787          -2.026         0              0              0              74
  42  Mug             1.919          0.908          -1.446         0              0              0              62
  43  StoveBurner     1.845          0.940          -0.355         0              0              0
  44  StoveBurner     1.567          0.940          -0.757         0              0              0
  45  Cabinet         -1.149         2.019          -1.979         0              90             0
  46  Cabinet         -1.149         2.265          -0.834         0              90             0
  47  Cabinet         -0.459         2.265          -2.0           0              0              0
  48  Cabinet         -1.100         2.019          -2.0           0              0              0
  49  Cabinet         1.719          2.019          -2.0           0              0              0
  50  Cabinet         1.179          2.019          -2.0           0              0              0
  51  Cabinet         0.199          2.019          -2.0           0              0              0
  52  Cabinet         1.75           2.019          -1.399         0              270            0
  53  Cabinet         1.75           2.019          -1.029         0              270            0
  54  Cabinet         1.379          0.469          -1.689         0              0              0
  55  Cabinet         -0.819         0.469          -1.689         0              0              0
  56  Cabinet         1.389          0.469          -1.059         0              270            0
  57  Cabinet         -0.839         0.469          -1.665         0              90             0
  58  StoveBurner     1.567          0.940          -0.355         0              0              0
  59  StoveBurner     1.845          0.940          -0.757         0              0              0
  60  Sink            -0.109         0.893          -2.009         0              0              0
  61  Drawer          -0.819         0.75           -1.690         0              0              0
  62  CounterTop      0.232          0.949          -2.002         0              0              0
  63  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  64  Vase            0.251          0.546          0.475          0              270            0
  65  Toaster         0.780          0.900          -2.080         0              0              0
  66  LightSwitch     0.108          1.315          2.75           0              180            0
  67  Vase            0.400          0.925          0.218          0              180            0
  68  Microwave       -1.233         0.900          -1.680         0              90             0
  69  Vase            1.465          1.662          -2.200         0              0              0
  70  Fridge          -1.495         0.0            -0.703         0              0              0
  71  Window          2.114          1.495          1.072          90             270            0
  72  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  73  Vase            0.333          0.546          1.272          0              270            0
  74  SinkBasin       -0.148         0.753          -2.026         0              0              0
  75  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  79  DiningTable     0.170          0.005          0.678          0              270            0
  80  Shelf           0.170          0.155          0.678          0              270            0
  81  Shelf           1.605          0.172          2.480          0              0              0
  82  Shelf           1.605          0.552          2.480          0              0              0
  83  Shelf           1.604          0.880          2.479          0              0              0
  84  ShelvingUnit    1.605          0.006          2.480          0              0              0
  85  Faucet          -0.143         1.028          -2.223         0              270            0
  86  Stool           -0.553         0.000          0.871          1.233          280.376        0
  87  Shelf           0.170          0.528          0.678          0              270            0
  88
  89
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn around and then walk around the table to face the opposite side. | STEP 2: Pick up the apple on the table. | STEP 3: Turn right and walk forward to face the microwave. | STEP 4: Heat the apple in the microwave and then remove it. | STEP 5: Step to the right to face the fridge. | STEP 6: Place the apple in the fridge to the left of the pan. | END