Task: To heat a piece of apple plus place it 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           0.5            0.901          2.0            0              0              0
   1  Potato          -0.349         0.831          0.545          0              0              0              78
   2  DishSponge      -0.196         0.790          0.377          0              0              0              78
   3  ButterKnife     -0.272         0.791          1.217          0              0              0              78
   4  Egg             1.997          0.980          1.866          0              0              0              51
   5  Egg             2.301          0.980          0.361          0              0              0              62
   6  Plate           2.059          0.342          -0.097         0              270            0              72
   7  Knife           -0.121         0.787          0.915          270            176.133        0              78
   8  Knife           1.917          0.963          0.509          0              90             0              62
   9  SoapBottle      -0.327         0.038          -0.832         0              90             0              73
  10  SoapBottle      1.840          0.939          0.657          0              0              0              62
  11  Tomato          -0.119         0.837          1.386          0              0              0              78
  12  Bowl            2.165          1.500          0.418          0              0              0              49
  13  Bowl            2.168          1.320          -0.550         0              0              0              72
  14  PepperShaker    0.033          0.785          0.713          0              0              0              78
  15  Lettuce         -0.196         0.852          1.217          0              0              0              78
  16  Lettuce         0.033          0.852          1.049          0              0              0              78
  17  Mug             2.064          0.989          2.462          0              225            0              77
  18  Mug             -0.328         1.030          2.014          0              90             0              76
  19  Apple           2.071          0.988          0.361          0              0              0              62
  20  Egg             -0.466         0.820          0.910          48.345         303.062        23.597         78
  21  Lettuce         2.127          1.580          -0.188         0              270            0              72
  22  Fork            -0.119         0.791          0.377          0              90             0              78
  23  SoapBottle      1.887          0.082          1.915          0              0              0              47
  24  Ladle           -0.033         0.791          2.197          0              270            0              50
  25  Ladle           0.629          0.839          2.64           0              0              0              75
  26  Bread           -0.215         0.828          0.810          358.091        356.804        358.840        78
  27  SaltShaker      1.840          0.933          0.435          0              0              0              62
  28  Potato          -0.272         0.831          1.386          0              0              0              78
  29  Pan             1.928          0.070          0.640          0              0              0              48
  30  WineBottle      -0.425         0.791          0.713          0              0              0              78
  31  Spatula         2.024          0.760          2.197          0              270            0              66
  32  Knife           1.884          0.771          1.922          0              90             0              66
  33  Tomato          -0.042         0.837          0.545          0              0              0              78
  34  Apple           2.225          0.988          0.806          0              0              0              62
  35  ButterKnife     -0.042         0.791          1.049          0              0              0              78
  36  Pot             1.866          0.935          1.504          0              180            0              55
  37  PepperShaker    0.288          0.932          2.478          0              0              0              51
  38  Cup             1.440          0.079          2.601          0              0              0              57
  39  DishSponge      0.060          0.937          2.757          0              0              0              51
  40  Plate           1.227          0.085          2.523          0              0              0              57
  41  Spoon           -0.349         0.781          0.880          358.111        0              0              78
  42  Mug             2.167          1.943          1.050          0              0              0              61
  43  Bowl            2.000          1.318          -0.097         0              270            0              72
  44  Cabinet         2.041          2.113          2.618          0              0              0
  45  Cabinet         0.126          0.388          1.774          0              0              0
  46  StoveBurner     2.140          0.929          1.504          0              180            0
  47  Cabinet         1.760          0.388          2.346          0              0              0
  48  Cabinet         1.760          0.388          0.869          0              0              0
  49  Cabinet         2.041          1.810          0.283          0              0              0
  50  Drawer          -0.024         0.774          2.061          0              0              0
  51  CounterTop      1.065          0.973          2.666          0              0              0
  52  Cabinet         1.969          2.113          2.618          0              0              0
  53  StoveBurner     2.140          0.929          1.106          0              0              0
  54  Cabinet         2.041          2.113          1.809          0              0              0
  55  StoveBurner     1.866          0.929          1.504          0              180            0
  56  Cabinet         2.041          2.113          1.766          0              0              0
  57  Cabinet         1.514          0.388          2.360          0              0              0
  58  Cabinet         0.351          0.388          2.360          0              0              0
  59  Cabinet         2.041          1.810          0.872          0              0              0
  60  Drawer          2.167          0.774          0.582          0              0              0
  61  Cabinet         2.041          2.113          0.892          0              0              0
  62  CounterTop      2.060          0.973          0.583          0              0              0
  63  Sink            0.935          0.936          2.646          0              0              0
  64  Curtains        0.964          2.061          2.989          0              0              0
  65  StoveBurner     1.863          0.929          1.106          0              0              0
  66  Drawer          1.911          0.774          2.060          0              0              0
  67  StoveKnob       2.326          1.092          1.610          288.013        90             0
  68  StoveKnob       2.326          1.092          1.460          288.013        90             0
  69  StoveKnob       2.326          1.092          1.210          288.013        90             0
  70  StoveKnob       2.326          1.092          1.050          288.013        90             0
  71  Toaster         2.126          0.926          0.572          0              270            0
  72  Fridge          2.104          0.0            -0.279         0              270            0
  73  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  74  LightSwitch     0.354          1.518          -1.031         0              0              0
  75  SinkBasin       0.903          0.784          2.640          0              0              0
  76  Microwave       -0.310         0.926          2.077          0              90             0
  77  CoffeeMachine   2.084          0.927          2.667          0              225            0
  78  DiningTable     -0.153         -0.000         1.073          0              270            0
  79  Faucet          1.175          0.926          2.950          270            90             0
  80  Faucet          0.686          0.926          2.950          270            90             0
  81  Chair           -0.077         0.002          0.196          0              15.000         0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn right and cross the room to face the toaster. | STEP 2: Pick up the knife on the counter. | STEP 3: Look up to face the apple on the counter. | STEP 4: Cut the apple on the counter into three slices. | STEP 5: Place the knife on the right side of the counter. | STEP 6: Pick up the piece of apple on the counter. | STEP 7: Turn around to walk across the room to face the microwave. | STEP 8: Heat the apple piece in the microwave and remove it. | STEP 9: Turn around and walk across the room to face the fridge. | STEP 10: Place the apple piece in the fridge. | END