Task: Put a cold piece of apple on a counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          1.25           0              270            0
   1  Pan             -1.109         0.930          1.865          0              0              0              63
   2  DishSponge      1.414          0.746          2.527          0              0              0              42
   3  Fork            1.362          0.938          2.597          0              0              0              44
   4  Fork            -0.876         0.938          0.765          0              0              0              64
   5  Spoon           -1.043         0.939          0.765          0              0              0              64
   6  Spatula         -0.896         0.761          0.779          0              90             0              62
   7  Egg             -1.053         0.600          -0.110         0              90             0              71
   8  Egg             1.652          1.621          1.703          0              270            0              78
   9  Cup             -1.012         0.813          0.348          0              90             0              71
  10  Cup             -0.964         0.813          -0.110         0              90             0              71
  11  Plate           1.666          1.508          0.965          0              0              0              46
  12  Knife           -1.043         0.959          0.998          0              0              0              64
  13  Knife           1.275          0.768          2.527          0              270            0              42
  14  SoapBottle      1.380          1.746          0.168          0              0              0              47
  15  SoapBottle      1.456          0.069          2.912          0              0              0              77
  16  PepperShaker    -1.044         0.934          2.159          0              0              0              40
  17  PepperShaker    1.448          0.742          1.120          0              0              0              69
  18  Lettuce         1.460          1.014          1.676          4.797          59.252         355.176        66
  19  SoapBottle      1.391          0.081          2.532          0              0              0              48
  20  Bread           -0.923         0.990          2.265          0              302.470        0              39
  21  Fork            -0.876         0.938          1.154          0              0              0              64
  22  Tomato          -0.710         0.999          0.687          0              0              0              64
  23  Bowl            -1.032         1.947          1.458          0              0              0              55
  24  Pot             -1.109         0.930          1.470          0              0              0              41
  25  Spatula         1.439          0.952          1.074          0              0              0              44
  26  Knife           1.483          0.768          0.780          0              90             0              69
  27  SaltShaker      -1.081         1.497          2.216          0              180            0              70
  28  Apple           1.587          1.645          1.598          0              270            0              78
  29  PepperShaker    1.418          0.097          0.474          0              0              0              65
  30  ButterKnife     -1.043         0.937          0.843          0              90             0              64
  31  Potato          -0.899         0.598          -0.034         0              90             0              71
  32  Plate           1.391          0.086          2.251          0              0              0              48
  33  DishSponge      1.597          0.944          1.798          0              180            0              66
  34  Egg             -1.012         0.850          0.042          0              90             0              71
  35  Cup             -0.724         0.080          2.241          0              0              0              60
  36  Pan             -0.971         1.498          0.118          0              90             0              71
  37  Spoon           1.456          0.849          1.369          0              0              0              81
  38  Mug             -0.712         0.932          2.159          0              180            0              39
  39  CounterTop      -0.973         0.973          2.386          0              0              0
  40  Drawer          -0.783         0.774          2.381          0              180            0
  41  StoveBurner     -1.108         0.922          1.470          0              0              0
  42  Drawer          1.370          0.774          2.391          0              0              0
  43  Stool           -0.748         0.008          3.116          0              0              0
  44  CounterTop      1.504          0.973          2.309          0              0              0
  45  Cabinet         1.219          1.388          0.591          0              0              0
  46  Cabinet         1.500          2.113          1.164          0              0              0
  47  Cabinet         1.219          2.010          0.591          0              0              0
  48  Cabinet         1.219          0.388          2.105          0              0              0
  49  Cabinet         1.219          0.553          0.591          0              0              0
  50  Cabinet         -0.913         2.113          1.164          0              0              0
  51  Cabinet         -0.633         0.388          0.627          0              0              0
  52  Cabinet         -0.913         2.050          -0.329         0              0              0
  53  Cabinet         -0.913         2.113          0.583          0              0              0
  54  Cabinet         -0.913         2.113          2.082          0              0              0
  55  Cabinet         -0.913         2.113          1.207          0              0              0
  56  Cabinet         1.500          2.113          2.082          0              0              0
  57  Cabinet         1.500          2.113          1.207          0              0              0
  58  Cabinet         1.500          1.810          2.691          0              0              0
  59  Cabinet         1.500          1.810          2.101          0              0              0
  60  Cabinet         -0.633         0.388          2.105          0              0              0
  61  Cabinet         -0.911         1.810          2.700          0              180            0
  62  Drawer          -0.783         0.774          0.915          0              180            0
  63  StoveBurner     -1.108         0.922          1.865          0              0              0
  64  CounterTop      -0.972         0.973          0.921          0              0              0
  65  Cabinet         1.219          0.388          0.631          0              0              0
  66  Sink            1.544          0.869          1.639          0              180            0
  67  StoveBurner     -0.832         0.922          1.865          0              0              0
  68  StoveBurner     -0.831         0.922          1.470          0              0              0
  69  Drawer          1.370          0.774          0.916          0              0              0
  70  Cabinet         -0.911         1.810          2.111          0              180            0
  71  Fridge          -1.001         0.0            0.119          0              0              0
  72  StoveKnob       -0.648         0.926          1.923          0              270            0
  73  StoveKnob       -0.648         0.926          1.363          0              270            0
  74  StoveKnob       -0.648         0.926          1.513          0              270            0
  75  StoveKnob       -0.648         0.926          1.763          0              270            0
  76  Toaster         -1.002         0.926          2.561          0              90             0
  77  GarbageCan      1.451          -0.029         2.912          0              0              0
  78  Microwave       1.632          1.480          1.645          0              270            0
  79  Window          0.224          1.601          3.509          90             0              0
  80  CoffeeMachine   1.692          0.926          2.453          0              270            0
  81  SinkBasin       1.461          0.833          1.369          0              180            0
  82  LightSwitch     0.451          1.412          -1.674         0              0              0
  83  Faucet          1.707          0.925          1.363          0              270            0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Go to the counter to the left of the stove. | STEP 2: Take the knife with the yellow handle from the counter. | STEP 3: Turn around, go to the sink. | STEP 4: Cut the apple in the microwave above the sink. | STEP 5: Stay in front of the sink. | STEP 6: Put the knife in the microwave. | STEP 7: Stay in front of the sink. | STEP 8: Take a piece of apple from the microwave. | STEP 9: Turn around, go to the refrigerator. | STEP 10: Put the apple on the shelf next to the potato in the fridge. Close and open the fridge door. Take the apple piece from the fridge. | STEP 11: Go to the counter to the right of the fridge. | STEP 12: Put the piece of apple on the counter in between the two forks and close to the edge. | END