Task: place microwaved apple slice in refrigerator

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          -1.0           0              180            0
   1  Kettle          1.007          0.962          0.293          0              180            0              69
   2  Pan             1.007          0.962          0.561          0              270            0              59
   3  Pan             -0.644         1.328          -1.809         0              270            0              51
   4  Potato          -0.296         0.100          0.526          0              90             0              86
   5  DishSponge      0.377          0.782          -1.648         0              270            0              80
   6  DishSponge      0.394          0.108          -1.434         0              180            0              54
   7  ButterKnife     1.412          0.912          -1.571         0              0              0              57
   8  Fork            -0.451         0.912          -1.489         0              0              0              57
   9  Spoon           0.753          0.920          -1.516         0              180            0              55
  10  Spoon           0.649          0.920          -1.516         0              270            0              55
  11  Spatula         0.300          0.927          0.209          0              0              0              56
  12  Egg             -2.31          1.527          -1.677         0              0              0              87
  13  Egg             -1.872         1.527          -1.763         0              0              0              87
  14  Cup             -1.928         0.950          0.614          0              90             0              90
  15  Cup             -2.614         0.950          0.165          0              90             0              90
  16  Plate           -0.147         0.111          -1.508         0              0              0              66
  17  Knife           -0.451         0.937          -1.654         0              180            0              57
  18  Knife           0.035          0.937          0.540          0              180            0              56
  19  Tomato          -2.222         1.100          -1.677         0              0              0              87
  20  Tomato          -2.135         1.101          -1.849         0              0              0              87
  21  Bowl            0.753          0.918          -1.649         0              270            0              55
  22  SaltShaker      1.681          1.325          -1.736         0              180            0              73
  23  SaltShaker      1.828          1.325          -1.736         0              180            0              73
  24  Bread           -2.047         1.575          -1.763         0              0              0              87
  25  Lettuce         0.035          1.002          0.292          0              0              0              56
  26  Apple           -2.203         1.019          0.435          0              90             0              90
  27  Apple           1.601          0.979          0.209          0              0              0              72
  28  Bread           1.785          0.995          0.458          0              0              0              72
  29  Knife           -2.203         0.977          0.345          0              180            0              90
  30  Fork            -1.791         0.952          0.435          0              90             0              90
  31  Bowl            0.387          0.109          0.270          0              0              0              68
  32  Kettle          1.535          1.329          -1.809         0              180            0              73
  33  Cup             0.697          0.910          0.209          0              0              0              56
  34  Tomato          -1.928         1.001          0.165          0              90             0              90
  35  SoapBottle      -0.329         0.068          0.439          0              90             0              86
  36  Plate           -2.614         0.953          0.345          0              90             0              90
  37  Pot             1.361          0.962          0.561          0              270            0              62
  38  Spatula         -2.340         0.967          0.345          0              270            0              90
  39  PaperTowelRoll  -0.451         1.016          -1.571         0              0              0              57
  40  Egg             -1.959         0.815          -1.720         0              0              0              87
  41  Lettuce         -2.047         0.601          -1.763         0              0              0              87
  42  SaltShaker      -2.065         0.948          0.524          0              90             0              90
  43  PepperShaker    -0.096         0.908          0.292          0              0              0              56
  44  Apple           -1.791         1.019          0.165          0              90             0              90
  45  ButterKnife     -2.340         0.952          0.345          0              90             0              90
  46  Potato          -2.614         0.982          0.704          0              90             0              90
  47  Pan             1.535          0.911          -1.820         0              270            0              57
  48  DishSponge      0.300          0.911          0.292          0              0              0              56
  49  Spoon           0.446          0.775          0.338          0              270            0              53
  50  Mug             -0.872         1.010          -1.770         0              0              0              79
  51  Cabinet         -0.193         1.688          -1.648         0              180            0
  52  StoveBurner     1.360          0.957          0.293          0              180            0
  53  Drawer          0.499          0.792          0.296          0              0              0
  54  Cabinet         0.095          0.400          -1.352         0              180            0
  55  Sink            0.711          0.817          -1.772         0              270            0
  56  CounterTop      0.280          0.947          0.458          0              0              0
  57  CounterTop      -0.680         0.947          -1.654         0              0              0
  58  Drawer          1.825          0.792          0.296          0              0              0
  59  StoveBurner     1.007          0.957          0.561          0              270            0
  60  Drawer          -0.150         0.792          -1.496         0              0              0
  61  Drawer          -0.586         0.792          -1.496         0              0              0
  62  StoveBurner     1.360          0.957          0.561          0              270            0
  63  Drawer          0.024          0.792          0.296          0              0              0
  64  Cabinet         1.079          0.400          -1.349         0              180            0
  65  Cabinet         1.669          0.402          0.151          0              0              0
  66  Cabinet         0.055          0.402          -1.351         0              0              0
  67  Cabinet         -0.180         0.402          0.151          0              0              0
  68  Cabinet         0.729          0.402          0.151          0              0              0
  69  StoveBurner     1.007          0.957          0.293          0              180            0
  70  Drawer          -1.100         0.792          -1.496         0              0              0
  71  Cabinet         -0.396         0.402          -1.351         0              0              0
  72  CounterTop      1.776          0.947          0.458          0              0              0
  73  Cabinet         1.974          1.688          -1.648         0              180            0
  74  Cabinet         -0.820         0.400          -1.349         0              180            0
  75  Toaster         0.305          0.900          0.552          0              180            0
  76  LightSwitch     -2.756         1.307          -0.987         0              90             0
  77  Window          0.582          1.613          -1.967         90             0              0
  78  Window          1.969          1.5            -0.615         90             270            0
  79  Microwave       -1.037         0.900          -1.723         0              0              0
  80  SinkBasin       0.377          0.765          -1.655         0              270            0
  81  CoffeeMachine   0.618          0.900          0.600          0              180            0
  82  StoveKnob       1.246          0.913          0.118          45             180            0
  83  StoveKnob       1.373          0.913          0.118          45             180            0
  84  StoveKnob       0.995          0.913          0.118          45             180            0
  85  StoveKnob       1.126          0.913          0.118          45             180            0
  86  GarbageCan      -0.368         -0.029         0.539          0              90             0
  87  Fridge          -2.134         0.0            -1.690         0              0              0
  88  Faucet          0.549          1.046          -1.833         0              232.527        0
  89  Stool           -1.475         0.000          0.414          1.233          280.375        0
  90  DiningTable     -2.255         -0.004         0.432          0              0              0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: turn around, go to white table with tomato | STEP 2: pick up silver knife behind spatula on table | STEP 3: slice apple on table behind spatula | STEP 4: place knife perpendicular to knife with yellow handle on table | STEP 5: pick up apple slice from table | STEP 6: turn around, go to microwave to the left of refrigerator | STEP 7: place apple on gray plate in microwave, close microwave, microwave apple slice, open microwave, take apple slice out of microwave, close microwave | STEP 8: go to black refrigerator to the right | STEP 9: open refrigerator, place apple slice to the right of egg on second shelf of refrigerator, close refrigerator  | END