Task: Slice an apple, cook 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           0.75           0.900          2.0            0              0              0
   1  Potato          -1.697         1.492          0.013          0              90             0              94
   2  Potato          2.030          0.935          -1.415         0              0              0              71
   3  CellPhone       1.810          0.693          0.478          0              0              0              72
   4  CellPhone       0.214          0.923          1.202          0              0              0              79
   5  Ladle           1.661          0.624          0.531          0              0              0              75
   6  Ladle           1.661          0.391          0.531          0              0              0              65
   7  Kettle          0.361          0.113          -1.534         0              0              0              50
   8  DishSponge      1.603          0.762          1.365          0              270            0              77
   9  Fork            0.170          0.761          -1.435         0              0              0              95
  10  Spoon           1.900          0.912          1.258          0              0              0              71
  11  Spoon           -1.902         0.912          -0.864         0              0              0              71
  12  Pot             0.000          0.929          0.273          0              0              0              79
  13  Egg             1.956          1.063          -0.547         0              270            0              92
  14  Plate           -1.803         1.467          0.201          0              90             0              94
  15  Knife           0.000          0.947          0.738          0              0              0              79
  16  SoapBottle      0.000          0.929          0.970          0              0              0              79
  17  Bowl            -1.151         0.111          -1.360         0              0              0              83
  18  Bowl            -0.320         0.924          0.738          0              0              0              79
  19  SaltShaker      -1.902         0.907          -1.063         0              0              0              71
  20  PepperShaker    -1.668         0.907          -1.610         0              0              0              71
  21  Lettuce         -0.320         1.002          0.506          0              0              0              79
  22  Lettuce         -0.213         1.002          -0.190         0              0              0              79
  23  Mug             0.194          0.107          -1.534         0              0              0              60
  24  Apple           -0.088         0.813          -1.490         0              0              0              95
  25  Apple           -0.261         0.814          -1.435         0              0              0              95
  26  SoapBottle      0.000          0.929          0.041          0              0              0              79
  27  Cup             -1.874         0.909          -1.707         0              0              0              71
  28  Pot             -1.639         0.915          -1.013         0              0              0              71
  29  Fork            0.321          0.926          0.738          0              0              0              79
  30  Ladle           0.000          0.969          -0.190         0              0              0              79
  31  Kettle          1.975          0.938          0.384          0              180            0              57
  32  Egg             -1.796         0.098          1.247          0              270            0              85
  33  Plate           -1.803         1.674          -0.175         0              90             0              94
  34  Pan             1.975          0.938          0.819          0              180            0              81
  35  Lettuce         0.000          1.002          1.202          0              0              0              79
  36  Spatula         1.612          0.156          1.088          0              90             0              80
  37  Apple           -0.002         0.813          -1.324         0              0              0              95
  38  Knife           -1.050         0.933          -1.415         0              0              0              71
  39  SaltShaker      1.574          0.907          -1.707         0              0              0              71
  40  PepperShaker    1.117          0.907          -1.610         0              0              0              71
  41  CellPhone       1.764          0.235          -0.020         0              0              0              54
  42  ButterKnife     -0.213         0.925          0.970          0              0              0              79
  43  Bread           1.559          0.992          0.025          0              0              0              71
  44  Tomato          0.000          0.980          0.506          0              0              0              79
  45  Potato          0.256          0.784          -1.490         0              90             0              95
  46  DishSponge      1.802          0.911          -1.318         0              0              0              71
  47  Spoon           1.769          0.764          1.074          0              270            0              77
  48  Mug             2.039          1.654          -1.204         0              270            0              59
  49  Bowl            1.195          0.107          -1.542         0              0              0              64
  50  Cabinet         -0.495         0.474          -1.149         0              0              0
  51  Window          -0.010         1.582          -1.821         0              0              0
  52  Drawer          0.805          0.475          -1.159         0              0              0
  53  StoveBurner     1.764          0.902          0.601          0              270            0
  54  Drawer          1.5            0.196          -0.019         0              0              0
  55  Drawer          1.5            0.629          -0.018         0              0              0
  56  Drawer          1.5            0.602          -0.019         0              270            0
  57  StoveBurner     1.975          0.902          0.384          0              270            0
  58  Cabinet         -1.703         2.022          -1.453         0              90             0
  59  Cabinet         1.789          2.019          -0.819         0              270            0
  60  Cabinet         0.494          0.474          -1.149         0              0              0
  61  Cabinet         0.409          0.475          0.444          0              0              0
  62  Drawer          -0.696         0.475          -1.159         0              0              0
  63  Drawer          1.5            0.140          0.599          0              270            0
  64  Cabinet         1.389          0.474          -1.149         0              0              0
  65  Drawer          1.5            0.305          0.600          0              0              0
  66  StoveBurner     1.975          0.902          0.601          0              270            0
  67  Drawer          1.5            0.429          -0.019         0              0              0
  68  StoveBurner     1.764          0.902          0.819          0              270            0
  69  Drawer          1.5            0.519          1.220          0              0              0
  70  Cabinet         1.705          2.019          -1.449         0              0              0
  71  CounterTop      0.002          0.947          -1.513         0              0              0
  72  Drawer          1.5            0.629          0.605          0              0              0
  73  Cabinet         -0.627         2.019          -1.449         0              0              0
  74  StoveBurner     1.764          0.902          0.384          0              270            0
  75  Drawer          1.5            0.538          0.600          0              0              0
  76  Sink            0.0            0.893          -1.434         0              0              0
  77  Drawer          1.5            0.782          1.220          0              270            0
  78  Window          2.217          1.565          -0.384         0              0              0
  79  CounterTop      -0.014         0.961          0.505          0              0              0
  80  Drawer          1.5            0.200          1.220          0              0              0
  81  StoveBurner     1.975          0.902          0.819          0              270            0
  82  Window          -3.240         1.616          2.693          0              270            0
  83  Cabinet         -1.389         0.474          -1.149         0              0              0
  84  LightSwitch     -0.153         1.291          3.700          0              180            0
  85  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  86  StoveKnob       1.602          0.917          0.570          0              270            180
  87  StoveKnob       1.602          0.917          0.625          0              270            180
  88  StoveKnob       1.602          0.917          0.739          0              270            180
  89  StoveKnob       1.602          0.917          0.680          0              270            180
  90  StoveKnob       1.602          0.917          0.462          0              270            180
  91  StoveKnob       1.602          0.917          0.517          0              270            180
  92  Microwave       1.932          0.899          -0.766         0              270            0
  93  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  94  Fridge          -1.764         0.0            0.014          0              90             0
  95  SinkBasin       -0.014         0.736          -1.435         0              0              0
  96  Toaster         1.977          0.900          -0.336         0              270            0
  97  Faucet          -0.020         1.137          -1.605         0              270            0
  98  Chair           -9.354         0.000          1.242          0              180            0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn to the left, walk forward to the brown center island | STEP 2: Pick up the large knife to the right of the tomato | STEP 3: Turn left, walk forward, turn to the right, turn left once you are facing the sink | STEP 4: Slice the apple closest to you into one 1/3 piece | STEP 5: prepare to make another slice | STEP 6: Make another slice so the apple should be cut into 3 pieces of equal portions and pick up 1 piece | STEP 7: Turn to the right and walk forward to the microwave | STEP 8: open the microwave, place apple on plate in the microwave, close microwave, cook, wait until done, then open door and remove apple slice | STEP 9: turn one hundred eighty degrees to the right walk forward, turn right, turn left to face the fridge | STEP 10: Open fridge, place apple slice in the fridge on the top shelf, close fridge | END