Task: put a piece of cooked apple in to the refrigerator

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            0.908          2.5            0              0              0
   1  Pan             0.802          0.939          -0.473         0              0              0              81
   2  SprayBottle     1.207          0.910          0.706          0              0              0              73
   3  CellPhone       -1.286         0.909          -0.902         0              0              0              79
   4  CellPhone       -1.060         0.909          -0.902         0              0              0              79
   5  DishSponge      0.951          0.885          2.477          0              0              0              105
   6  ButterKnife     1.128          0.911          0.139          0              0              0              73
   7  Glassbottle     1.365          0.912          -0.144         0              0              0              73
   8  Glassbottle     -1.225         0.342          1.092          0              90             0              93
   9  Kettle          1.325          1.656          -0.393         0              0              0              55
  10  Spoon           -0.020         0.759          -0.612         0              0              0              100
  11  Spoon           -1.123         0.913          -0.430         0              0              0              79
  12  Fork            -1.197         0.750          1.902          0              0              0              54
  13  Egg             1.284          0.920          2.800          0              0              0              105
  14  Cup             1.444          0.910          -0.428         0              0              0              73
  15  Plate           -1.320         0.752          1.197          0              90             0              93
  16  Plate           1.218          0.117          -0.052         0              0              0              67
  17  Knife           -0.968         0.934          -0.589         0              270            0              79
  18  Knife           -0.813         0.934          -0.430         0              0              0              79
  19  SoapBottle      1.117          0.887          2.153          0              0              0              105
  20  SoapBottle      1.245          0.087          1.377          0              0              0              94
  21  Bread           -1.290         0.812          2.644          0              0              0              54
  22  SaltShaker      1.049          0.907          -0.428         0              0              0              73
  23  SaltShaker      -1.012         0.745          2.830          0              0              0              54
  24  Mug             -1.149         0.746          0.673          0              90             0              93
  25  Mug             1.117          0.881          2.369          0              0              0              105
  26  Apple           -1.206         0.811          0.988          0              90             0              93
  27  Apple           -1.012         0.809          1.902          0              0              0              54
  28  Bread           -1.206         1.484          0.778          0              90             0              93
  29  Glassbottle     0.994          2.156          -0.787         0              0              0              57
  30  Fork            1.367          0.886          2.261          0              0              0              105
  31  Kettle          -1.012         0.749          2.644          0              0              0              54
  32  Tomato          -1.320         0.800          0.883          0              90             0              93
  33  Plate           1.365          0.912          0.706          0              0              0              73
  34  CellPhone       1.200          0.884          2.692          0              0              0              105
  35  Lettuce         -1.197         0.820          2.273          0              0              0              54
  36  Pot             0.502          0.939          -0.740         0              90             0              80
  37  SoapBottle      1.444          0.912          0.422          0              0              0              73
  38  WineBottle      1.117          0.887          2.477          0              0              0              105
  39  Spatula         1.523          0.926          -0.144         0              90             0              73
  40  Bowl            -1.433         0.910          -0.669         0              0              0              79
  41  Apple           -0.144         0.818          -0.533         0              0              0              100
  42  Cup             -0.919         0.748          2.273          0              0              0              54
  43  Knife           1.365          0.933          0.139          0              0              0              73
  44  Egg             0.041          0.792          -0.533         0              0              0              100
  45  SaltShaker      1.175          0.112          0.618          0              0              0              65
  46  PepperShaker    -1.012         0.745          2.087          0              0              0              54
  47  Potato          -0.919         0.794          2.459          0              0              0              54
  48  ButterKnife     1.367          0.886          2.584          0              0              0              105
  49  DishSponge      -1.127         0.775          0.209          0              180            0              75
  50  Pan             -1.105         0.749          3.015          0              90             0              54
  51  Spoon           0.054          0.913          -0.359         0              0              0              79
  52  SprayBottle     -0.658         0.911          -0.828         0              0              0              79
  53  Mug             -1.320         1.283          0.883          0              90             0              93
  54  DiningTable     -1.182         0.006          2.414          0              90             0
  55  Cabinet         1.184          2.059          0.375          0              0              0
  56  Cabinet         1.184          2.059          -0.635         0              0              0
  57  Cabinet         0.591          2.309          -0.645         0              0              0
  58  Cabinet         -0.574         2.059          -0.644         0              0              0
  59  Cabinet         -1.103         2.059          -0.644         0              0              0
  60  Cabinet         -1.185         2.059          -0.331         0              0              0
  61  Cabinet         -1.185         2.059          -0.281         0              0              0
  62  Cabinet         -1.185         2.059          0.375          0              0              0
  63  Cabinet         1.184          2.309          1.174          0              0              0
  64  Cabinet         1.184          2.309          0.424          0              0              0
  65  Cabinet         0.988          0.402          0.581          0              0              0
  66  Cabinet         0.988          0.402          0.531          0              0              0
  67  Cabinet         0.988          0.402          -0.178         0              0              0
  68  Cabinet         0.335          0.402          -0.348         0              0              0
  69  Cabinet         -0.374         0.402          -0.348         0              0              0
  70  Cabinet         0.988          0.402          1.231          0              0              0
  71  Cabinet         -1.185         2.309          1.374          0              0              0
  72  Cabinet         -1.185         2.309          0.424          0              0              0
  73  CounterTop      1.274          0.947          0.064          0              0              0
  74  Drawer          1.116          0.792          -0.015         0              0              0
  75  Drawer          -1.116         0.792          0.210          0              180            0
  76  Cabinet         -0.990         0.402          0.374          0              180            0
  77  Drawer          -1.116         0.792          -0.170         0              180            0
  78  Cabinet         -0.990         0.402          -0.335         0              180            0
  79  CounterTop      -1.001         0.947          -0.669         0              0              0
  80  StoveBurner     0.502          0.932          -0.740         0              90             0
  81  StoveBurner     0.801          0.932          -0.473         0              0              0
  82  StoveBurner     0.801          0.932          -0.740         0              90             0
  83  Drawer          1.116          0.792          1.081          0              0              0
  84  Sink            -0.013         0.912          -0.615         0              0              0
  85  Drawer          1.116          0.792          0.732          0              0              0
  86  StoveBurner     0.502          0.932          -0.469         0              0              0
  87  Drawer          1.116          0.792          0.367          0              0              0
  88  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  90  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  91  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  92  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  93  Fridge          -1.300         0.008          0.987          0              90             0
  94  GarbageCan      1.296          -0.024         1.465          0              0              0
  95  Window          -0.012         1.641          -0.972         90             0              0
  96  Window          1.598          1.646          2.489          90             270            0
  97  Toaster         1.356          0.900          1.044          0              270            0
  98  LightSwitch     0.118          1.353          3.799          0              180            0
  99  Microwave       -1.343         0.900          0.053          0              90             0
 100  SinkBasin       -0.029         0.748          -0.612         0              0              0
 101  Faucet          -0.026         0.927          -0.808         0              0              0
 102  Shelf           -1.182         0.127          2.414          0              90             0
 103  Stool           1.140          0.007          3.262          1.206          20.753         0
 104  Shelf           -1.182         0.435          2.414          0              90             0
 105  DiningTable     1.169          0.014          2.569          0              0              1.896
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: turn around and move forward across the room to the counter that is to the right of the sink | STEP 2: pick up the sharp knife with the yellow handle from the counter | STEP 3: move slightly to the left to face the sink | STEP 4: use the knife with the yellow handle to cut the apple | STEP 5: put the knife with the yellow handle in to the sink behind the apple | STEP 6: pick up a piece of the apple | STEP 7: turn to the right and move to the microwave | STEP 8: open the microwave door, put the apple piece in to the microwave, close the door, turn on the microwave for three seconds, open the door and remove the apple slice, then close the door | STEP 9: turn to the right and move to the refrigerator on the left, turn to face the fridge | STEP 10: open the fridge door, put the cook apple piece in to the fridge in front of the apple on the top shelf and close the fridge door | END