Task: place a microwaved apple slice inside of 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           0.900          2.75           0              90             0
   1  Potato          1.559          0.935          -0.131         0              0              0              69
   2  CellPhone       1.764          0.114          0.047          0              0              0              52
   3  Ladle           1.769          0.164          0.745          0              270            0              61
   4  Fork            -0.106         0.926          0.970          0              0              0              77
   5  Spoon           -1.874         0.912          -1.707         0              90             0              69
   6  Spoon           -0.106         0.926          0.506          0              0              0              77
   7  Spatula         1.760          0.710          0.543          0              0              0              70
   8  Egg             -0.002         0.817          -1.324         0              0              0              93
   9  Egg             -0.844         0.968          -1.318         0              0              0              69
  10  Cup             0.138          0.110          -1.534         0              0              0              58
  11  Cup             -0.261         0.758          -1.490         0              0              0              93
  12  Plate           0.214          0.924          0.970          0              0              0              77
  13  Plate           0.000          0.924          0.041          0              0              0              77
  14  Knife           1.769          0.604          -0.019         0              0              0              54
  15  SoapBottle      -0.320         0.929          0.273          0              0              0              77
  16  SoapBottle      -1.639         0.915          -1.013         0              0              0              69
  17  Bowl            0.361          0.111          -1.345         0              0              0              58
  18  SaltShaker      -1.990         0.907          -1.113         0              0              0              69
  19  SaltShaker      1.762          0.221          1.088          0              0              0              78
  20  PepperShaker    -1.957         1.658          -1.056         0              90             0              56
  21  Lettuce         -0.106         1.002          0.738          0              0              0              77
  22  Mug             1.956          1.001          -0.547         0              270            0              90
  23  Mug             0.214          0.920          0.738          0              0              0              77
  24  SoapBottle      -0.213         0.929          -0.190         0              0              0              77
  25  Cup             -1.645         1.467          0.013          0              90             0              92
  26  Pot             1.975          0.938          0.819          0              180            0              79
  27  Fork            1.764          0.470          -0.020         0              0              0              54
  28  Ladle           -0.305         0.159          -1.409         0              0              0              48
  29  Kettle          -0.320         0.926          1.202          0              0              0              77
  30  Egg             -0.088         0.817          -1.324         0              0              0              93
  31  Plate           0.107          0.924          0.506          0              0              0              77
  32  Pan             1.765          0.938          0.384          0              180            0              72
  33  Lettuce         0.889          0.988          -1.707         0              0              0              69
  34  Spatula         1.559          0.361          0.531          0              90             0              63
  35  Apple           0.170          0.813          -1.546         0              0              0              93
  36  Knife           2.025          0.933          0.103          0              270            0              69
  37  SaltShaker      2.001          1.655          -1.129         0              270            0              57
  38  PepperShaker    -0.213         0.921          0.506          0              0              0              77
  39  CellPhone       1.760          0.693          -0.015         0              0              0              53
  40  ButterKnife     0.889          0.911          -1.513         0              0              0              69
  41  Bread           -0.320         1.006          0.041          0              0              0              77
  42  Tomato          1.117          0.966          -1.318         0              0              0              69
  43  Potato          -1.773         0.066          1.371          0              270            0              83
  44  DishSponge      1.612          0.224          1.088          0              0              0              78
  45  Spoon           0.000          0.926          0.738          0              0              0              77
  46  Mug             0.138          0.107          -1.408         0              0              0              58
  47  Bowl            -1.151         0.111          -1.423         0              0              0              81
  48  Cabinet         -0.495         0.474          -1.149         0              0              0
  49  Window          -0.010         1.582          -1.821         0              0              0
  50  Drawer          0.805          0.475          -1.159         0              0              0
  51  StoveBurner     1.764          0.902          0.601          0              270            0
  52  Drawer          1.5            0.196          -0.019         0              0              0
  53  Drawer          1.5            0.629          -0.018         0              0              0
  54  Drawer          1.5            0.602          -0.019         0              270            0
  55  StoveBurner     1.975          0.902          0.384          0              270            0
  56  Cabinet         -1.703         2.022          -1.453         0              90             0
  57  Cabinet         1.789          2.019          -0.819         0              270            0
  58  Cabinet         0.494          0.474          -1.149         0              0              0
  59  Cabinet         0.409          0.475          0.444          0              0              0
  60  Drawer          -0.696         0.475          -1.159         0              0              0
  61  Drawer          1.5            0.140          0.599          0              270            0
  62  Cabinet         1.389          0.474          -1.149         0              0              0
  63  Drawer          1.5            0.305          0.600          0              0              0
  64  StoveBurner     1.975          0.902          0.601          0              270            0
  65  Drawer          1.5            0.429          -0.019         0              0              0
  66  StoveBurner     1.764          0.902          0.819          0              270            0
  67  Drawer          1.5            0.519          1.220          0              0              0
  68  Cabinet         1.705          2.019          -1.449         0              0              0
  69  CounterTop      0.002          0.947          -1.513         0              0              0
  70  Drawer          1.5            0.629          0.605          0              0              0
  71  Cabinet         -0.627         2.019          -1.449         0              0              0
  72  StoveBurner     1.764          0.902          0.384          0              270            0
  73  Drawer          1.5            0.538          0.600          0              0              0
  74  Sink            0.0            0.893          -1.434         0              0              0
  75  Drawer          1.5            0.782          1.220          0              270            0
  76  Window          2.217          1.565          -0.384         0              0              0
  77  CounterTop      -0.014         0.961          0.505          0              0              0
  78  Drawer          1.5            0.200          1.220          0              0              0
  79  StoveBurner     1.975          0.902          0.819          0              270            0
  80  Window          -3.240         1.616          2.693          0              270            0
  81  Cabinet         -1.389         0.474          -1.149         0              0              0
  82  LightSwitch     -0.153         1.291          3.700          0              180            0
  83  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  84  StoveKnob       1.602          0.917          0.570          0              270            180
  85  StoveKnob       1.602          0.917          0.625          0              270            180
  86  StoveKnob       1.602          0.917          0.739          0              270            180
  87  StoveKnob       1.602          0.917          0.680          0              270            180
  88  StoveKnob       1.602          0.917          0.462          0              270            180
  89  StoveKnob       1.602          0.917          0.517          0              270            180
  90  Microwave       1.932          0.899          -0.766         0              270            0
  91  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  92  Fridge          -1.764         0.0            0.014          0              90             0
  93  SinkBasin       -0.014         0.736          -1.435         0              0              0
  94  Toaster         1.977          0.900          -0.336         0              270            0
  95  Faucet          -0.020         1.137          -1.605         0              270            0
  96  Chair           -9.354         0.000          1.242          0              180            0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: walk forwards to the end of the room, then turn right and walk to the oven on the right side, turn left and face the counter on the left | STEP 2: grab the yellow knife off of the countertop | STEP 3: turn around and walk over to the kitchen sink on the left | STEP 4: slice up the green apple in the kitchen sink | STEP 5: turn to face the dishwasher on the left | STEP 6: open the bottom drawer to the left of the dish washer and put the knife inside | STEP 7: turn right to face the sink again | STEP 8: grab a apple slice out of the kitchen sink | STEP 9: turn left and walk over to the microwave ahead | STEP 10: place the apple slice inside of the microwave, cook it, then take it back out | STEP 11: turn around and walk to the end of the room, turn right and walk until you reach the fridge on the left, then face the fridge | STEP 12: place the apple slice inside of the fridge | END