Task: Slice an apple, refrigerate it, bring it to the microwave oven

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          -1.5           0              90             0
   1  Pencil          -0.361         0.747          -3.238         0              90             0              65
   2  DishSponge      -2.552         0.923          -0.963         0              0              0              79
   3  ButterKnife     -2.438         0.923          -1.423         0              0              0              79
   4  ButterKnife     -2.438         0.923          -2.115         0              0              0              79
   5  WineBottle      -1.912         0.027          -3.690         0              0              0              70
   6  WineBottle      -0.508         0.916          -3.368         0              0              0              54
   7  Spatula         -2.438         0.938          -2.345         0              180            0              79
   8  Spatula         -2.324         0.938          -1.884         0              0              0              79
   9  Spoon           -2.096         0.924          -1.884         0              90             0              79
  10  Spoon           -2.096         0.924          -1.423         0              0              0              79
  11  Plate           -2.552         0.925          -1.193         0              0              0              79
  12  Plate           -0.383         0.083          -2.247         0              0              0              59
  13  Cup             -0.211         1.526          -3.230         0              0              0              66
  14  Egg             -2.210         0.956          -1.654         0              0              0              79
  15  SoapBottle      -0.671         0.914          -3.485         0              0              0              54
  16  Bowl            -0.436         0.914          -3.570         0              0              0              54
  17  Bowl            -0.357         1.529          -3.644         0              45             0              62
  18  SaltShaker      -0.528         0.912          -3.909         0              0              0              54
  19  SaltShaker      -0.807         0.743          -3.615         0              0              0              53
  20  PepperShaker    -0.205         1.966          -2.192         0              0              0              61
  21  PepperShaker    -2.324         0.919          -1.423         0              0              0              79
  22  Mug             -1.257         1.625          -3.936         0              90             0              67
  23  Mug             -0.388         1.685          -0.874         0              270            0              71
  24  Apple           -0.254         0.870          -1.934         0              270            0              72
  25  Lettuce         -0.392         1.483          -0.979         0              270            0              71
  26  Glassbottle     -0.343         0.081          -3.330         0              0              0              60
  27  Egg             -2.210         0.956          -1.884         0              0              0              79
  28  Pen             -0.600         0.918          -3.485         0              0              0              54
  29  Fork            -2.666         0.924          -1.654         0              0              0              79
  30  SoapBottle      -2.666         0.922          -1.884         0              0              0              79
  31  Pencil          -1.975         0.027          -3.799         0              0              0              70
  32  WineBottle      -0.222         0.916          -3.771         0              0              0              54
  33  Spatula         -0.815         0.930          -3.697         0              90             0              54
  34  Bread           -2.666         0.976          -2.345         0              0              0              79
  35  Tomato          -0.343         1.162          -0.874         0              270            0              71
  36  Pan             -1.515         0.935          -3.752         0              90             0              50
  37  Cup             -0.422         0.080          -1.712         0              0              0              49
  38  Pot             -1.129         0.935          -3.498         0              0              0              52
  39  SaltShaker      -2.438         0.919          -0.963         0              0              0              79
  40  Potato          -2.438         0.954          -1.654         0              0              0              79
  41  PepperShaker    -0.457         0.912          -3.839         0              0              0              54
  42  ButterKnife     -0.600         0.915          -3.697         0              0              0              54
  43  DishSponge      -0.420         0.746          -3.297         0              0              0              65
  44  Spoon           -2.324         0.924          -1.193         0              0              0              79
  45  Plate           -0.343         1.393          -0.560         0              270            0              71
  46  Knife           -2.210         0.946          -1.423         0              0              0              79
  47  Mug             -0.344         0.076          -2.063         0              270            0              49
  48  Bowl            -0.348         1.689          -0.665         0              270            0              71
  49  Cabinet         -0.582         0.388          -1.804         0              0              0
  50  StoveBurner     -1.515         0.928          -3.752         0              90             0
  51  StoveBurner     -1.515         0.928          -3.497         0              0              0
  52  StoveBurner     -1.129         0.928          -3.498         0              0              0
  53  Drawer          -0.749         0.779          -3.551         0              0              0
  54  CounterTop      -0.303         0.951          -2.793         0              0              0
  55  Cabinet         -0.883         2.140          -3.687         0              0              0
  56  Cabinet         -0.312         2.140          -1.543         0              0              0
  57  Sink            -0.349         0.907          -2.014         0              0              0
  58  Cabinet         -0.877         0.388          -3.422         0              0              0
  59  Cabinet         -0.582         0.388          -2.197         0              0              0
  60  Cabinet         -0.584         0.388          -3.396         0              0              0
  61  Cabinet         -0.312         2.140          -2.481         0              0              0
  62  Cabinet         -0.330         1.921          -3.390         0              0              0
  63  Cabinet         -1.764         2.140          -3.687         0              0              0
  64  StoveBurner     -1.129         0.928          -3.752         0              90             0
  65  Drawer          -0.454         0.779          -3.268         0              0              0
  66  Cabinet         -0.302         1.916          -2.501         0              0              0
  67  Microwave       -1.317         1.517          -3.801         0              1.440          0
  68  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  69  LightSwitch     -4.323         1.319          0.0            0              180            0
  70  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  71  Fridge          -0.330         0.0            -0.769         0              270            0
  72  SinkBasin       -0.350         0.786          -2.018         0              270            0
  73  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  77  Toaster         -0.181         0.903          -2.764         0              270            0
  78  Window          -2.503         1.782          -4.185         90             180            0
  79  DiningTable     -2.432         0.000          -1.694         0              270            0
  80  Shelf           -2.432         0.150          -1.694         0              270            0
  81  Blinds          -2.536         2.699          -3.959         0              0              0
  82  Faucet          -0.079         0.904          -2.034         270            180            0
  83  Chair           -3.264         0.002          -2.094         0              53.280         0
  84  Chair           -3.240         0.002          -1.253         0              117.257        0
  85  Shelf           -2.432         0.523          -1.694         0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: While facing the fridge turn around and face the green table. | STEP 2: Pick up the knife directly behind the salt shaker and between the potato and brown dish on the table. | STEP 3: Turn around and walk to the sink. | STEP 4: Slice the apple in the sink into slices. | STEP 5: Turn to your left and walk to the fridge while carrying the knife. | STEP 6: Open the fridge door and place the knife in front of the tomato on the top shelf with its blade pointing to the left. | STEP 7: Close the fridge door and walk to the sink. | STEP 8: Pick up a slice of the apple. | STEP 9: Turn to your left and carry the apple slice to the fridge. | STEP 10: Open the fridge door and place the apple slice at the left end of the knife and close the fridge door; after cooling, open the fridge door and pick up the apple slice, close the fridge door. | STEP 11: Turn to your right and walk to the stove. | STEP 12: Look up to the microwave oven over the stove, open the microwave door, place the apple slice in the microwave in front of the handle of the black mug, close the door. | END