Task: Put the heated apple piece 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            0.908          3.25           0              0              0
   1  SprayBottle     1.450          0.885          2.692          0              0              0              109
   2  SprayBottle     1.245          0.085          1.472          0              0              0              98
   3  Potato          -1.329         1.060          0.098          0              90             0              103
   4  Potato          -0.503         0.957          -0.509         0              0              0              83
   5  CellPhone       1.523          0.909          -0.144         0              0              0              77
   6  DishSponge      1.367          0.885          2.261          0              0              0              109
   7  DishSponge      -1.197         0.748          3.015          0              0              0              58
   8  Glassbottle     1.365          0.912          -0.144         0              0              0              77
   9  WineBottle      -1.294         1.656          -0.052         0              0              0              65
  10  WineBottle      -1.475         0.750          3.015          0              0              0              58
  11  Kettle          0.041          0.759          -0.651         0              0              0              104
  12  Spatula         1.284          0.901          2.369          0              0              0              109
  13  Pot             0.802          0.939          -0.740         0              90             0              86
  14  Egg             -1.263         1.455          1.302          0              90             0              97
  15  Egg             1.245          0.120          1.346          0              0              0              98
  16  Cup             -1.437         0.911          -0.392         0              0              0              83
  17  Cup             -1.475         0.748          1.902          0              0              0              58
  18  Plate           1.286          0.912          0.706          0              0              0              77
  19  Knife           1.444          0.933          -0.428         0              90             0              77
  20  Tomato          -1.149         1.338          1.092          0              90             0              97
  21  Tomato          -1.378         0.800          0.883          0              90             0              97
  22  Bowl            1.325          2.155          0.642          0              0              0              68
  23  Bread           1.034          0.949          2.261          0              0              0              109
  24  Bread           -1.012         0.812          1.902          0              0              0              58
  25  SaltShaker      1.284          0.882          2.369          0              0              0              109
  26  SaltShaker      -0.170         0.112          -0.490         0              0              0              83
  27  PepperShaker    -1.197         0.745          2.830          0              0              0              58
  28  Mug             -1.060         0.907          -0.902         0              0              0              83
  29  Apple           1.049          0.971          0.139          0              0              0              77
  30  Apple           -1.099         0.401          0.883          0              90             0              97
  31  Apple           -1.206         1.697          0.883          0              90             0              97
  32  Bread           -1.263         1.700          1.086          0              90             0              97
  33  Glassbottle     -1.099         0.342          0.988          0              90             0              97
  34  Fork            -1.383         0.749          3.015          0              0              0              58
  35  Kettle          -1.197         0.750          2.273          0              0              0              58
  36  Tomato          -1.162         0.391          1.302          0              90             0              97
  37  Plate           0.860          2.156          -0.787         0              0              0              61
  38  CellPhone       -1.105         0.747          2.459          0              0              0              58
  39  Lettuce         -1.012         0.820          3.015          0              0              0              58
  40  Pot             -0.968         0.912          -0.509         0              0              0              83
  41  SoapBottle      1.357          0.087          1.472          0              90             0              98
  42  WineBottle      -1.383         0.749          2.087          0              0              0              58
  43  Spatula         1.286          0.926          0.139          0              0              0              77
  44  Bowl            1.365          0.909          0.139          0              0              0              77
  45  Apple           1.133          0.146          1.440          0              0              0              98
  46  Cup             1.174          0.116          0.030          0              0              0              71
  47  Knife           1.286          0.933          0.422          0              0              0              77
  48  Egg             -1.099         0.375          0.778          0              90             0              97
  49  SaltShaker      -1.325         1.652          -0.481         0              0              0              64
  50  PepperShaker    -1.513         0.908          -0.902         0              0              0              83
  51  Potato          -0.144         0.803          -0.573         0              0              0              104
  52  ButterKnife     -0.658         0.912          -0.828         0              0              0              83
  53  DishSponge      1.175          0.115          0.656          0              0              0              69
  54  Pan             0.502          0.939          -0.740         0              90             0              84
  55  Spoon           -1.290         0.750          2.087          0              0              0              58
  56  SprayBottle     -0.658         0.911          -0.589         0              0              0              83
  57  Mug             -1.012         0.743          2.644          0              0              0              58
  58  DiningTable     -1.182         0.006          2.414          0              90             0
  59  Cabinet         1.184          2.059          0.375          0              0              0
  60  Cabinet         1.184          2.059          -0.635         0              0              0
  61  Cabinet         0.591          2.309          -0.645         0              0              0
  62  Cabinet         -0.574         2.059          -0.644         0              0              0
  63  Cabinet         -1.103         2.059          -0.644         0              0              0
  64  Cabinet         -1.185         2.059          -0.331         0              0              0
  65  Cabinet         -1.185         2.059          -0.281         0              0              0
  66  Cabinet         -1.185         2.059          0.375          0              0              0
  67  Cabinet         1.184          2.309          1.174          0              0              0
  68  Cabinet         1.184          2.309          0.424          0              0              0
  69  Cabinet         0.988          0.402          0.581          0              0              0
  70  Cabinet         0.988          0.402          0.531          0              0              0
  71  Cabinet         0.988          0.402          -0.178         0              0              0
  72  Cabinet         0.335          0.402          -0.348         0              0              0
  73  Cabinet         -0.374         0.402          -0.348         0              0              0
  74  Cabinet         0.988          0.402          1.231          0              0              0
  75  Cabinet         -1.185         2.309          1.374          0              0              0
  76  Cabinet         -1.185         2.309          0.424          0              0              0
  77  CounterTop      1.274          0.947          0.064          0              0              0
  78  Drawer          1.116          0.792          -0.015         0              0              0
  79  Drawer          -1.116         0.792          0.210          0              180            0
  80  Cabinet         -0.990         0.402          0.374          0              180            0
  81  Drawer          -1.116         0.792          -0.170         0              180            0
  82  Cabinet         -0.990         0.402          -0.335         0              180            0
  83  CounterTop      -1.001         0.947          -0.669         0              0              0
  84  StoveBurner     0.502          0.932          -0.740         0              90             0
  85  StoveBurner     0.801          0.932          -0.473         0              0              0
  86  StoveBurner     0.801          0.932          -0.740         0              90             0
  87  Drawer          1.116          0.792          1.081          0              0              0
  88  Sink            -0.013         0.912          -0.615         0              0              0
  89  Drawer          1.116          0.792          0.732          0              0              0
  90  StoveBurner     0.502          0.932          -0.469         0              0              0
  91  Drawer          1.116          0.792          0.367          0              0              0
  92  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  93  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  94  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  95  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  96  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  97  Fridge          -1.300         0.008          0.987          0              90             0
  98  GarbageCan      1.296          -0.024         1.465          0              0              0
  99  Window          -0.012         1.641          -0.972         90             0              0
 100  Window          1.598          1.646          2.489          90             270            0
 101  Toaster         1.356          0.900          1.044          0              270            0
 102  LightSwitch     0.118          1.353          3.799          0              180            0
 103  Microwave       -1.343         0.900          0.053          0              90             0
 104  SinkBasin       -0.029         0.748          -0.612         0              0              0
 105  Faucet          -0.026         0.927          -0.808         0              0              0
 106  Shelf           -1.182         0.127          2.414          0              90             0
 107  Stool           1.140          0.007          3.262          1.206          20.753         0
 108  Shelf           -1.182         0.435          2.414          0              90             0
 109  DiningTable     1.169          0.014          2.569          0              0              1.896
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Turn left, walk forward, then turn left again and walk up to the kitchen counter right of the sink | STEP 2: Pick up the butter knife from the counter | STEP 3: Turn around and walk up to the fridge | STEP 4: Open the fridge and cut the apple with the knife | STEP 5: Put the knife in the fridge on the top shelf | STEP 6: Pick up the apple piece from the fridge and close it | STEP 7: Turn left and walk to the microwave left of the fridge | STEP 8: Heat the apple in the microwave then remove it | STEP 9: Turn right and walk back to the fridge | STEP 10: Put the apple piece in the fridge | END