Task: Slice an apple using a table knife, heat it and place it into 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           -2.0           0.900          1.25           0              180            0
   1  Potato          -2.636         1.234          2.221          0              90             0              82
   2  Potato          -2.127         0.866          3.575          0              0              0              73
   3  Pot             0.913          0.850          1.375          0              0              0              49
   4  Spatula         1.024          0.838          2.545          0              270            0              55
   5  Spatula         -0.524         0.915          0.937          0              90             0              91
   6  Spoon           -0.524         0.901          1.452          0              90             0              91
   7  Fork            0.725          0.823          2.458          0              0              0              55
   8  Egg             1.024          0.859          0.850          0              0              0              50
   9  Egg             -2.643         1.444          2.221          0              90             0              82
  10  Cup             -2.403         0.766          2.109          0              90             0              82
  11  Knife           -1.698         0.846          3.545          0              0              0              73
  12  SoapBottle      -0.657         0.900          1.246          0              90             0              91
  13  SoapBottle      1.024          0.822          1.028          0              0              0              50
  14  Tomato          0.931          0.092          2.918          0              0              0              84
  15  Bowl            0.800          0.821          2.285          0              0              0              65
  16  PepperShaker    -2.497         0.819          4.022          0              0              0              73
  17  PepperShaker    1.099          0.819          0.850          0              0              0              50
  18  SaltShaker      -0.789         0.896          1.555          0              90             0              91
  19  SaltShaker      -0.524         0.896          1.246          0              90             0              91
  20  Lettuce         0.875          0.898          2.545          0              0              0              55
  21  Mug             -1.109         0.940          1.203          0              0              0              91
  22  Plate           -1.749         1.687          3.897          0              0              0              45
  23  Fork            -1.457         0.823          3.535          0              0              0              73
  24  Bread           -2.577         0.820          2.333          0              90             0              82
  25  Spatula         0.950          0.838          2.631          0              180            0              55
  26  PaperTowelRoll  -0.657         1.004          1.040          0              90             0              91
  27  Potato          -2.563         0.866          3.331          0              0              0              73
  28  SoapBottle      -1.053         0.900          1.452          0              90             0              91
  29  Egg             -1.873         0.733          3.857          0              0              0              85
  30  Cup             -0.921         0.900          1.555          0              90             0              91
  31  Pot             0.913          0.850          1.768          0              0              0              71
  32  SaltShaker      -1.317         0.896          0.937          0              90             0              91
  33  Pan             -2.667         0.812          3.74           0              137.145        0              73
  34  PepperShaker    -2.580         1.845          1.489          0              0              0              68
  35  ButterKnife     -2.172         0.812          3.552          0              0              0              73
  36  Tomato          -1.317         0.969          1.246          0              90             0              91
  37  DishSponge      -2.779         0.822          3.405          0              0              0              73
  38  Lettuce         -2.461         1.071          2.165          0              90             0              82
  39  Spoon           0.950          0.824          2.458          0              90             0              47
  40  Apple           1.024          0.884          2.111          0              0              0              55
  41  Knife           -0.921         0.923          1.349          0              270            0              91
  42  Mug             -1.317         0.895          1.555          0              90             0              91
  43  Bowl            -1.817         0.126          3.636          0              0              0              72
  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 around and move straight towards the sink. | STEP 2: Pick up the table knife on the left next to the sink | STEP 3: Take knife, turn around and move straight towards the counter next to the stove. | STEP 4: Slice the apple on the counter using the table knife. | STEP 5: Turn around and move back towards the sink with the table knife. | STEP 6: Open the cupboard under the sink, place the knife in the cupboard, close cupboard. | STEP 7: Turn around and move back to the counter next to the stove  | STEP 8: Pick up a sliced apple from the counter. | STEP 9: Take sliced apple, turn around and move back to the sink. | STEP 10: Open microwave onto of the sink, place sliced apple into microwave, heat for 7 minutes, take out sliced apple from microwave. | STEP 11: Take sliced apple from the microwave, turn left then turn right and face the fridge. | STEP 12: Open the fridge door, place sliced apple on the shelf inside the fridge next to the green lettuce, close fridge door. | END