Task: put quartered and heated apple in fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          1.75           0              0              0
   1  Ladle           2.790          1.066          -0.236         0              0              0              49
   2  ButterKnife     2.304          0.764          4.521          0              329.999        0              50
   3  ButterKnife     -0.802         0.800          1.899          0              0              0              54
   4  Pot             1.836          1.027          -1.84          0              90             0              47
   5  Pot             1.761          1.027          -1.599         0              0              0              92
   6  Spoon           -0.714         0.817          1.414          0              90             0              106
   7  Spoon           -0.590         0.801          0.777          0              0              0              51
   8  Fork            2.525          0.765          3.62           0              90             0              50
   9  Fork            -0.732         0.801          2.372          0              0              0              55
  10  Egg             -0.834         0.121          2.874          0              0              0              104
  11  Cup             2.111          0.763          4.410          0              329.999        0              50
  12  Plate           -1.013         1.442          -0.406         0              90             0              93
  13  Knife           -0.803         0.826          2.372          0              90             0              55
  14  Knife           -0.544         1.052          0.785          0              0              0              52
  15  Bread           2.790          0.832          3.529          0              329.999        0              50
  16  Bread           -0.968         1.510          -0.627         0              90             0              93
  17  Lettuce         2.228          0.822          3.795          0              0              0              50
  18  Apple           2.551          0.814          4.240          0              329.999        0              50
  19  Apple           2.976          0.814          3.747          0              270            0              50
  20  Apple           2.710          0.814          4.229          0              225            0              50
  21  Pan             2.100          0.764          3.895          0              90             0              50
  22  Glassbottle     1.925          0.765          4.192          0              270            0              50
  23  Knife           2.451          0.789          3.97           0              225            0              50
  24  SoapBottle      -0.451         0.044          1.954          0              0              0              104
  25  Egg             -0.714         0.860          1.492          0              90             0              106
  26  Fork            1.230          1.027          -1.987         0              90             0              49
  27  Potato          -0.418         1.069          2.434          0              0              0              52
  28  Ladle           2.370          1.066          1.550          0              136.999        0              49
  29  Tomato          2.893          0.818          4.307          0              225            0              50
  30  Pot             2.177          1.027          -1.599         0              0              0              48
  31  WineBottle      2.959          1.027          -0.541         0              0              0              49
  32  Plate           -0.782         0.817          1.181          0              90             0              106
  33  Spatula         2.706          0.816          0.072          0              90             0              60
  34  PaperTowelRoll  2.671          0.868          3.885          0              329.999        0              50
  35  Lettuce         2.451          0.822          3.445          0              0              0              50
  36  Apple           2.426          0.814          3.735          0              225            0              50
  37  SaltShaker      2.179          0.798          1.116          0              317.0          0              62
  38  PepperShaker    2.868          0.760          4.072          0              225            0              50
  39  ButterKnife     2.160          1.026          1.354          0              136.999        0              49
  40  Bread           2.294          0.832          4.091          0              329.999        0              50
  41  Cup             -0.947         0.784          -0.627         0              90             0              93
  42  DishSponge      -0.645         0.816          1.181          0              90             0              106
  43  Bowl            -0.984         1.779          0.968          0              0              0              67
  44  Spoon           2.540          0.802          -0.359         0              90             0              49
  45  Mug             -1.013         1.437          -0.073         0              90             0              93
  46  Sink            -0.716         1.023          1.333          0              0              0
  47  StoveBurner     1.835          1.018          -1.840         0              90             0
  48  StoveBurner     2.177          1.018          -1.599         0              0              0
  49  CounterTop      2.812          0.992          0.675          0              0              0
  50  DiningTable     2.419          0.003          3.930          0              0              0
  51  Drawer          -0.643         0.828          0.616          0              0              0
  52  CounterTop      -0.813         1.062          2.188          0              0              0
  53  StoveBurner     2.115          1.018          -1.840         0              270            0
  54  Drawer          -0.643         0.831          1.953          0              0              0
  55  Drawer          -0.643         0.833          2.418          0              0              0
  56  Drawer          1.347          0.836          -1.539         0              0              0
  57  Drawer          2.693          0.833          -1.131         0              0              0
  58  Drawer          2.693          0.833          -0.699         0              0              0
  59  Drawer          2.693          0.833          -0.267         0              0              0
  60  Drawer          2.693          0.833          0.163          0              0              0
  61  Drawer          2.524          0.833          0.720          0              2.000          0
  62  Drawer          2.232          0.833          1.036          0              2.000          0
  63  Drawer          1.936          0.833          1.354          0              2.000          0
  64  Drawer          1.646          0.833          1.670          0              2.000          0
  65  Cabinet         1.504          2.475          -1.710         0              0              0
  66  Cabinet         -0.823         2.220          1.621          0              0              0
  67  Cabinet         -0.823         2.220          0.615          0              0              0
  68  Cabinet         1.136          0.388          -1.355         0              0              0
  69  Cabinet         -0.356         0.383          2.626          0              0              0
  70  Cabinet         2.745          2.220          -1.690         0              0              0
  71  Cabinet         1.882          0.383          1.017          0              0              0
  72  Cabinet         1.307          0.473          1.640          0              0              0
  73  Cabinet         1.892          0.383          1.006          0              0              0
  74  Cabinet         2.467          0.383          0.383          0              0              0
  75  Cabinet         2.466          0.383          -0.475         0              0              0
  76  Cabinet         2.466          0.473          0.371          0              0              0
  77  Cabinet         2.386          2.475          -1.710         0              0              0
  78  Cabinet         -0.356         0.383          1.712          0              0              0
  79  Cabinet         2.745          2.220          0.019          0              0              0
  80  Cabinet         -0.663         2.496          0.157          0              0              0
  81  Cabinet         -0.663         2.496          -0.868         0              0              0
  82  Cabinet         -0.356         0.383          0.269          0              0              0
  83  Cabinet         -0.823         2.220          1.603          0              0              0
  84  Cabinet         -0.662         2.234          0.586          0              0              0
  85  Cabinet         2.745          2.220          -0.843         0              0              0
  86  Cabinet         2.745          2.220          -0.827         0              0              0
  87  Cabinet         -0.823         2.220          2.608          0              0              0
  88  Cabinet         2.732          2.226          -1.709         0              0              0
  89  Cabinet         1.137          2.226          -1.709         0              0              0
  90  Cabinet         2.466          0.383          -0.491         0              0              0
  91  Cabinet         2.466          0.383          -1.339         0              0              0
  92  StoveBurner     1.761          1.018          -1.599         0              0              0
  93  Fridge          -0.908         0.0            -0.405         0              0              0
  94  HousePlant      2.517          1.016          1.822          0              0              0
  95  Microwave       1.939          1.745          -1.826         0              0              0
  96  StoveKnob       2.017          1.041          -1.514         0              180            180
  97  StoveKnob       1.934          1.041          -1.514         0              180            180
  98  StoveKnob       2.017          1.041          -1.589         0              180            180
  99  StoveKnob       1.934          1.041          -1.589         0              180            180
 100  Window          1.756          1.608          4.762          90             0              0
 101  HousePlant      2.171          1.004          2.091          0              0              0
 102  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 103  LightSwitch     -0.099         1.410          -2.066         0              0              0
 104  GarbageCan      -0.951         -0.029         2.826          0              0              0
 105  Toaster         -1.007         1.018          2.238          0              90             0
 106  SinkBasin       -0.714         0.805          1.348          0              90             0
 107  Chair           1.615          0.004          4.310          0              107.976        0
 108  Faucet          -1.120         1.013          1.334          0              90             0
 109  Chair           2.759          0.004          3.086          0              358.967        0
 110
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: walk to face white table | STEP 2: pick up knife from table | STEP 3: cut apple on table | STEP 4: put knife on table | STEP 5: pick up apple quarter from table | STEP 6: walk to face microwave | STEP 7: heat and remove apple from microwave | STEP 8: walk to face fridge | STEP 9: put apple inside fridge | END