Task: place a cold apple slice in the oven

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          0.0            0              90             0
   1  DishSponge      -2.642         1.938          -0.409         0              0              0              76
   2  DishSponge      -0.341         0.910          1.094          0              0              0              54
   3  ButterKnife     -0.471         0.910          1.764          0              0              0              54
   4  Kettle          1.691          0.929          0.064          0              0              0              65
   5  Spoon           -2.196         0.774          1.417          0              90             0              85
   6  Spoon           -0.341         0.912          0.870          0              0              0              54
   7  Spatula         -0.081         0.925          0.423          0              270            0              54
   8  Spatula         -2.318         0.788          -0.073         0              90             0              72
   9  Pot             1.412          0.929          -0.335         0              0              0              55
  10  Pot             1.411          0.929          0.064          0              0              0              83
  11  Egg             1.224          0.941          -0.944         0              45             0              68
  12  Cup             -2.685         1.535          0.125          0              0              0              77
  13  Cup             1.275          0.916          -1.107         0              225            0              68
  14  Plate           1.734          1.659          0.092          0              0              0              73
  15  Plate           1.735          1.666          -0.622         0              0              0              74
  16  Knife           -2.227         0.798          1.417          0              270            0              85
  17  Tomato          -2.485         1.131          -0.885         0              90             0              86
  18  Bowl            -2.277         0.112          0.541          0              0              0              79
  19  Bowl            -2.621         0.908          0.031          0              0              0              82
  20  PepperShaker    -2.372         0.905          1.230          0              0              0              82
  21  PepperShaker    1.846          0.905          -0.930         0              0              0              64
  22  SaltShaker      0.229          1.658          -1.729         0              90             0              61
  23  SaltShaker      -0.081         0.905          0.647          0              0              0              54
  24  Lettuce         -0.601         0.994          0.423          0              0              0              54
  25  Lettuce         -0.081         0.994          1.317          0              0              0              54
  26  Bread           -0.341         0.996          1.317          0              0              0              54
  27  Bread           -2.538         0.996          1.230          0              0              0              82
  28  Mug             1.318          0.913          -1.204         0              225            0              68
  29  Mug             -2.669         0.173          -0.902         0              90             0              86
  30  Apple           -0.081         0.972          1.764          0              0              0              54
  31  Pan             0.0            0.9            0.948          0              29.999         0              54
  32  Knife           0.195          0.936          -1.795         0              90             0              64
  33  Apple           1.687          0.246          0.679          0              0              0              93
  34  Bowl            -2.466         0.591          -0.603         0              90             0              86
  35  Fork            -0.601         0.911          1.317          0              0              0              54
  36  Bread           0.048          0.996          0.423          0              0              0              54
  37  Plate           -2.372         0.913          1.530          0              0              0              82
  38  Egg             1.391          0.950          -1.061         0              225            0              68
  39  Kettle          -2.605         1.939          -0.578         0              0              0              77
  40  Potato          -0.730         0.947          0.423          0              270            0              54
  41  SaltShaker      -2.564         1.532          -0.019         0              0              0              77
  42  Lettuce         -2.372         0.994          0.631          0              0              0              82
  43  Cup             -0.211         0.908          0.423          0              0              0              54
  44  SoapBottle      0.048          0.912          1.317          0              90             0              54
  45  Spatula         -2.257         0.789          0.343          0              90             0              71
  46  PaperTowelRoll  1.769          1.015          0.435          0              0              0              63
  47  ButterKnife     1.769          0.911          0.494          0              0              0              63
  48  PepperShaker    -2.609         1.928          -0.860         0              0              0              75
  49  DishSponge      -2.704         0.910          0.931          0              0              0              82
  50  Pot             -2.599         1.541          1.984          0              0              0              66
  51  Spoon           -2.289         0.912          0.631          0              90             0              82
  52  Tomato          0.770          0.953          -1.575         0              45             0              64
  53  Mug             0.464          0.955          -1.593         0              0              0              64
  54  CounterTop      -0.360         0.946          1.093          0              0              0
  55  StoveBurner     1.412          0.923          -0.335         0              0              0
  56  StoveKnob       1.878          1.093          0.018          287.989        90             0
  57  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  58  Cabinet         -2.446         1.948          2.924          0              0              0
  59  Drawer          -2.276         0.792          0.902          0              0              0
  60  Cabinet         -2.145         0.402          1.578          0              0              0
  61  Cabinet         0.149          2.008          -1.603         0              90             0
  62  StoveBurner     1.691          0.923          -0.335         0              0              0
  63  CounterTop      1.585          0.946          0.405          0              0              0
  64  CounterTop      0.474          0.946          -1.625         0              0              0
  65  StoveBurner     1.691          0.923          0.064          0              0              0
  66  Cabinet         -2.446         1.948          1.687          0              0              0
  67  Cabinet         -2.446         1.948          1.640          0              0              0
  68  Sink            1.381          0.810          -1.271         0              225            0
  69  StoveKnob       1.878          1.093          0.150          287.989        90             0
  70  Cabinet         -2.145         0.402          -0.236         0              0              0
  71  Drawer          -2.276         0.792          0.437          0              0              0
  72  Drawer          -2.276         0.792          -0.027         0              0              0
  73  Cabinet         1.572          2.008          0.474          0              0              0
  74  Cabinet         1.572          2.008          -0.775         0              0              0
  75  Cabinet         -2.445         2.148          -1.275         0              0              0
  76  Cabinet         -2.446         2.148          -0.284         0              0              0
  77  Cabinet         -2.446         1.948          0.355          0              0              0
  78  Cabinet         -2.446         1.948          0.405          0              0              0
  79  Cabinet         -2.145         0.402          0.644          0              0              0
  80  Cabinet         -2.145         0.402          0.695          0              0              0
  81  Cabinet         -2.285         1.968          -1.325         0              180            0
  82  CounterTop      -1.485         0.946          1.319          0              0              0
  83  StoveBurner     1.411          0.923          0.064          0              0              0
  84  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  85  Drawer          -2.276         0.792          1.368          0              0              0
  86  Fridge          -2.475         0.0            -0.782         0              90             0
  87  LightSwitch     -0.929         1.350          -1.950         0              0              0
  88  Toaster         -2.564         0.900          1.876          0              90             0
  89  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  90  Window          1.508          1.534          -1.496         90             135            0
  91  Window          1.973          1.521          1.121          90             90             0
  92  SinkBasin       1.149          0.753          -1.380         0              225            0
  93  GarbageCan      1.646          -0.000         0.679          0              0              0
  94  Microwave       -2.580         0.900          2.440          0              90             0
  95  Stool           0.439          0.010          0.747          0              0              0
  96  Stool           -2.303         0.010          1.839          0              0              0
  97  Faucet          1.235          1.138          -1.473         0              225            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: turn left to  the table | STEP 2: pick up a knife from the table | STEP 3: move to the apple at the left of the table | STEP 4: slice the apple on the table | STEP 5: move forward to the fridge | STEP 6: place the knife in the fridge | STEP 7: move right and head to the table | STEP 8: pick up a slice of the apple | STEP 9: head to the fridge  | STEP 10: place the apple to cool in the fridge and take it out | STEP 11: head right to the oven | STEP 12: place the apple in the oven. | END