Task: Heat up an apple slice and place 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            0.908          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 left and walk towards the table, then turn left and head towards the counter. | STEP 2: Pick up the knife  laying horizontally on the counter. | STEP 3: Turn left, step forward, then turn right to face the sink. | STEP 4: Slice the apple that's in the sink. | STEP 5: Throw the knife into the sink. | STEP 6: Pick up the right piece of the sliced apple. | STEP 7: Turn right and walk to the microwave. | STEP 8: Open microwave door, place apple on blue plate and turn on microwave. Wait till microwave is off and remove the apple. | STEP 9: Turn right and walk forward, then turn left to face the fridge. | STEP 10: Open the fridge and place the apple slice against the apple in the fridge, close the door. | END