Task: To heat a piece of 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           -1.0           0.900          2.0            0              90             0
   1  Potato          -2.707         0.866          3.479          0              0              0              73
   2  DishSponge      1.024          0.822          2.631          0              0              0              55
   3  DishSponge      0.650          0.822          2.111          0              0              0              55
   4  Spatula         -1.317         0.915          1.349          0              90             0              91
   5  Spoon           0.950          0.824          2.371          0              0              0              55
   6  Fork            -0.524         0.901          1.452          0              90             0              91
   7  Egg             -2.752         0.803          2.109          0              90             0              82
   8  Egg             -2.645         1.643          2.446          0              90             0              82
   9  Plate           -1.307         1.687          3.897          0              0              0              78
  10  Plate           -1.817         0.131          3.675          0              0              0              72
  11  Cup             -0.921         0.900          1.452          0              90             0              91
  12  Knife           -1.578         0.846          3.556          0              0              0              73
  13  Knife           1.024          0.846          0.939          0              90             0              50
  14  SoapBottle      -1.053         0.900          1.555          0              90             0              91
  15  Tomato          0.875          0.891          2.545          0              0              0              55
  16  Tomato          0.931          0.092          2.918          0              0              0              84
  17  Bowl            -2.502         1.847          1.526          0              0              0              68
  18  PepperShaker    0.800          0.819          2.285          0              0              0              55
  19  SaltShaker      -2.580         1.630          2.651          0              0              0              63
  20  SaltShaker      1.024          0.819          2.458          0              0              0              55
  21  Lettuce         -2.577         1.071          2.221          0              90             0              82
  22  Plate           0.860          0.812          0.976          0              0              0              50
  23  Fork            -0.657         0.901          1.246          0              90             0              91
  24  Bread           -2.636         0.820          2.333          0              90             0              82
  25  Spatula         0.650          0.838          0.895          0              90             0              50
  26  PaperTowelRoll  1.099          0.927          2.545          0              90             0              55
  27  Potato          -2.473         0.761          1.866          0              90             0              82
  28  SoapBottle      -2.098         1.398          3.936          0              0              0              51
  29  Egg             -1.642         1.395          3.836          0              180            0              79
  30  Cup             -2.431         0.157          1.295          0              0              0              82
  31  Pot             0.913          0.850          1.768          0              0              0              71
  32  SaltShaker      0.800          0.819          2.198          0              0              0              55
  33  Pan             -2.667         0.812          3.74           0              137.145        0              73
  34  PepperShaker    -0.657         0.896          1.555          0              90             0              91
  35  ButterKnife     -2.172         0.812          3.552          0              0              0              73
  36  Tomato          -1.317         0.969          1.143          0              90             0              91
  37  DishSponge      0.736          0.691          2.496          0              0              0              47
  38  Lettuce         0.725          0.898          2.545          0              0              0              55
  39  Spoon           -2.851         0.824          3.405          0              0              0              73
  40  Apple           -0.524         0.961          1.040          0              90             0              91
  41  Knife           1.099          0.846          0.939          0              90             0              50
  42  Mug             -1.109         0.940          1.203          0              0              0              91
  43  Bowl            -1.853         1.681          3.897          0              90             0              45
  44  Drawer          0.729          0.703          2.199          0              0              0
  45  Cabinet         -1.962         1.926          3.733          0              0              0
  46  Cabinet         -2.377         2.014          1.058          0              0              0
  47  Drawer          0.729          0.703          2.532          0              0              0
  48  Cabinet         -2.622         1.925          3.733          0              0              0
  49  StoveBurner     0.913          0.843          1.375          0              0              0
  50  CounterTop      0.864          0.858          0.984          0              0              0
  51  Cabinet         -1.976         1.779          3.734          0              0              0
  52  Cabinet         0.580          0.385          0.819          0              0              0
  53  Cabinet         -2.379         1.408          1.677          0              0              0
  54  Cabinet         -0.419         1.703          3.736          0              0              0
  55  CounterTop      0.864          0.858          2.371          0              0              0
  56  Sink            -1.702         0.726          3.828          0              180            0
  57  Cabinet         0.580          0.385          2.694          0              0              0
  58  Cabinet         -2.379         0.637          1.677          0              0              0
  59  Cabinet         -0.419         0.674          3.736          0              0              0
  60  Cabinet         -2.377         2.014          2.558          0              0              0
  61  Drawer          0.729          0.703          0.980          0              0              0
  62  Drawer          -2.114         0.706          3.657          0              0              0
  63  Cabinet         -2.377         1.691          2.572          0              0              0
  64  Cabinet         -2.951         1.925          3.733          0              0              0
  65  Cabinet         0.580          0.385          2.360          0              0              0
  66  Cabinet         -2.426         0.435          3.421          0              0              0
  67  StoveBurner     0.642          0.843          1.375          0              0              0
  68  Cabinet         -2.377         1.927          1.686          0              0              0
  69  Cabinet         -2.377         2.013          3.177          0              0              0
  70  Cabinet         -1.136         0.385          3.516          0              0              0
  71  StoveBurner     0.913          0.843          1.768          0              0              0
  72  Cabinet         -1.974         0.385          3.516          0              0              0
  73  CounterTop      -2.081         0.858          3.799          0              0              0
  74  Cabinet         -2.426         0.435          3.174          0              0              0
  75  Cabinet         -2.377         2.014          1.693          0              0              0
  76  Cabinet         -1.986         0.385          3.511          0              0              0
  77  StoveBurner     0.642          0.843          1.768          0              0              0
  78  Cabinet         -1.098         1.926          3.729          0              0              0
  79  Microwave       -1.529         1.250          3.881          1.622          180            0
  80  CoffeeMachine   1.000          0.812          2.492          0              270            0
  81  LightSwitch     0.825          1.396          4.082          0              180            0
  82  Fridge          -2.642         0.0            2.134          0              180            0
  83  Window          -1.131         1.673          0.808          90             0              0
  84  GarbageCan      0.931          -0.000         2.918          0              0              0
  85  SinkBasin       -1.601         0.686          3.774          0              0              0
  86  StoveKnob       1.104          1.002          1.886          0              0              70.346
  87  StoveKnob       1.104          1.002          1.733          0              0              70.346
  88  StoveKnob       1.104          1.002          1.321          0              0              70.346
  89  StoveKnob       1.104          1.002          1.481          0              0              70.346
  90  Toaster         -2.247         0.812          3.862          0              180            0
  91  DiningTable     -0.917         -0.000         1.203          0              0              0
  92  Stool           -0.932         0.000          1.404          1.196          21.715         0
  93  Faucet          -1.842         0.809          3.984          0              180            0
  94  Faucet          -1.371         0.809          3.985          0              180            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: TUrn left and step forward to face the knife on the sink. | STEP 2: Pick up the knife on the sink. | STEP 3: Turn around and walk around to face the apple on the left end of the table. | STEP 4: Cut the apple on the table into slices. | STEP 5: Turn right and cross the room to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Turn around and walk around to face the left end of the table. | STEP 8: Pick up the piece of apple on the table. | STEP 9: Turn right and cross the room to face the microwave. | STEP 10: Heat the piece of apple in the microwave and remove it. | STEP 11: Turn left and step forward to face the fridge. | STEP 12: Place the piece of apple in the fridge. | END