Task: Move a heated apple slice to 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           0.25           0.930          -0.5           0              180            0
   1  Pan             3.181          1.464          -1.648         0              90             0              60
   2  Glassbottle     -0.090         0.901          -1.440         0              45             0              83
   3  Pot             3.277          0.900          -0.798         0              90             0              61
   4  Spatula         -0.786         0.341          0.926          0              270            0              63
   5  Spatula         1.360          0.923          0.889          0              0              0              93
   6  Fork            -0.991         0.131          0.489          0              90             0              92
   7  Mug             0.929          1.242          -1.448         0              0              0              108
   8  Apple           -1.052         1.071          1.311          0              90             0              110
   9  Apple           -0.935         0.974          -0.047         0              0              0              62
  10  Apple           -0.862         0.974          0.399          0              0              0              62
  11  Lettuce         0.101          0.965          -1.445         0              0              0              83
  12  Lettuce         3.181          0.166          1.6            0              225            0              103
  13  PepperShaker    -0.935         0.896          0.846          0              0              0              66
  14  PepperShaker    0.713          1.671          -1.341         0              0              0              77
  15  Bowl            -0.862         0.897          0.176          0              0              0              62
  16  Tomato          0.533          0.947          0.326          0              0              0              93
  17  Tomato          1.164          0.923          -1.503         0              0              0              108
  18  Egg             -1.052         1.050          1.470          0              90             0              110
  19  Cup             1.242          1.245          -1.475         0              0              0              108
  20  Cup             -1.080         0.898          -0.047         0              0              0              62
  21  Plate           3.084          0.188          -0.786         0              0              0              74
  22  Knife           -0.987         0.925          -0.746         0              135            0              62
  23  Plate           1.208          1.687          -1.550         0              0              0              53
  24  Glassbottle     0.436          0.908          0.223          0              36.810         0              93
  25  SoapBottle      0.494          0.909          -1.516         0              0              0              83
  26  Potato          2.966          0.939          -0.698         0              0              0              61
  27  Fork            -0.827         0.131          -0.011         0              0              0              82
  28  Ladle           3.102          1.501          -1.284         0              0              0              76
  29  Pot             0.423          0.900          0.869          0              0              0              93
  30  Kettle          -0.419         0.902          -1.269         0              315            0              64
  31  Spatula         0.605          0.925          0.218          0              126.810        0              93
  32  Knife           0.533          0.936          0.527          0              0              0              93
  33  Lettuce         0.851          0.951          -1.503         0              0              0              108
  34  Cup             0.101          0.898          -1.660         0              0              0              83
  35  SaltShaker      0.376          0.127          -1.475         0              0              0              52
  36  Egg             2.987          0.799          0.098          0              90             0              107
  37  PepperShaker    2.966          0.897          0.947          0              0              0              61
  38  ButterKnife     -0.868         0.518          -0.186         0              0              0              89
  39  Apple           0.798          0.981          0.627          0              0              0              93
  40  Pan             3.084          0.176          0.559          0              180            0              71
  41  Bread           1.534          0.972          0.486          0              289.287        0              93
  42  CellPhone       1.229          0.908          0.605          0              0              0              93
  43  DishSponge      3.070          0.746          0.231          0              90             0              107
  44  Tomato          -0.131         0.937          -1.296         0              45             0              83
  45  Spoon           0.415          0.901          -1.660         0              0              0              83
  46  Bowl            -0.702         0.897          -0.726         0              45             0              62
  47  Mug             3.049          0.966          0.591          0              270            0              105
  48  Drawer          0.376          0.572          -1.509         0              0              0
  49  Drawer          3.020          0.769          -0.783         0              180            0
  50  Drawer          -0.860         0.577          1.429          0              0              0
  51  StoveBurner     -0.600         0.897          -1.090         0              135            0
  52  Drawer          0.376          0.191          -1.509         0              0              0
  53  Cabinet         1.402          1.874          -1.259         0              0              0
  54  Cabinet         -0.202         1.963          -1.328         0              0              0
  55  Drawer          -0.860         0.765          1.429          0              0              0
  56  Drawer          -0.677         0.765          -0.700         0              0              0
  57  StoveBurner     -0.420         0.897          -0.920         0              135            0
  58  Drawer          3.020          0.769          -0.407         0              180            0
  59  Drawer          -0.860         0.577          0.663          0              0              0
  60  Cabinet         2.819          1.768          -1.850         0              0              0
  61  CounterTop      3.111          0.936          0.019          0              0              0
  62  CounterTop      -1.007         0.935          -0.039         0              0              0
  63  Drawer          -0.860         0.385          0.663          0              0              0
  64  StoveBurner     -0.419         0.897          -1.269         0              315            0
  65  Drawer          -0.047         0.573          -1.324         0              0              0
  66  Drawer          -0.860         0.765          0.663          0              0              0
  67  Drawer          -0.860         0.385          -0.100         0              0              0
  68  Drawer          0.376          0.380          -1.509         0              0              0
  69  Drawer          -0.860         0.765          -0.100         0              0              0
  70  Drawer          0.376          0.765          -1.509         0              0              0
  71  Cabinet         2.849          0.419          0.409          0              0              0
  72  Drawer          -0.047         0.765          -1.324         0              0              0
  73  Cabinet         2.849          0.419          -0.610         0              0              0
  74  Cabinet         2.849          0.419          -0.959         0              0              0
  75  Cabinet         3.069          1.666          -0.709         0              0              0
  76  Cabinet         2.819          1.768          -1.047         0              0              0
  77  Cabinet         0.620          1.874          -1.259         0              0              0
  78  Cabinet         0.140          1.666          -1.559         0              0              0
  79  Cabinet         -0.189         1.666          -1.340         0              0              0
  80  Cabinet         -0.709         1.963          -0.819         0              0              0
  81  Cabinet         -0.920         1.665          -0.620         0              0              0
  82  Drawer          -0.860         0.190          -0.100         0              0              0
  83  CounterTop      0.133          0.935          -1.457         0              0              0
  84  Drawer          3.020          0.769          0.695          0              180            0
  85  Drawer          -0.677         0.577          -0.700         0              0              0
  86  Drawer          -0.860         0.190          1.429          0              0              0
  87  Drawer          -0.047         0.192          -1.324         0              0              0
  88  Drawer          -0.677         0.193          -0.700         0              0              0
  89  Drawer          -0.860         0.577          -0.100         0              0              0
  90  Sink            3.078          0.887          0.086          0              0              0
  91  StoveBurner     -0.239         0.897          -1.089         0              315            0
  92  Drawer          -0.860         0.190          0.663          0              0              0
  93  CounterTop      1.210          0.937          0.463          0              0              0
  94  Drawer          -0.047         0.381          -1.324         0              0              0
  95  Drawer          -0.677         0.387          -0.700         0              0              0
  96  Mirror          -1.295         1.630          0.045          0              0              0
  97  Drawer          -0.860         0.385          1.429          0              0              0
  98  HousePlant      3.196          0.891          -0.368         0              0              0
  99  StoveKnob       -0.090         0.790          -1.009         270            45             0
 100  StoveKnob       -0.280         0.790          -0.819         270            45             0
 101  StoveKnob       -0.180         0.790          -0.920         270            45             0
 102  StoveKnob       -0.370         0.790          -0.720         270            45             0
 103  GarbageCan      3.137          0.025          1.545          0              225            0
 104  Window          3.703          1.675          0.046          90             90             0
 105  CoffeeMachine   3.214          0.890          0.697          0              270            0
 106  LightSwitch     2.592          1.309          -1.880         0              0              0
 107  SinkBasin       3.069          0.736          0.108          0              90             0
 108  Fridge          1.008          0.029          -1.467         0              0              0
 109  Toaster         -1.035         0.873          -0.396         0              90             0
 110  Microwave       -1.034         0.874          1.428          0              90             0
 111  Faucet          3.305          0.886          0.094          270            180            0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Move to the right side of the oven | STEP 2: Pick up the knife on the counter top to the right of the oven | STEP 3: Carry the knife to the microwave | STEP 4: Open the microwave and cut the apple inside, shut the oven | STEP 5: Carry the knife to the fridge | STEP 6: Open the fridge, place the knife on the bottom shelf, close fridge | STEP 7: Move to the microwave | STEP 8: Open the microwave then remove and apple slice in the microwave | STEP 9: Carry the apple slice to the fridge | STEP 10: Place the apple slice on the shelf in the fridge behind the knife | END