Task: To heat a piece of apple and place it 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           -1.0           0.901          1.5            0              0              0
   1  Potato          -0.138         1.044          0.267          0              0              0              74
   2  Potato          -0.244         1.044          0.203          0              0              0              74
   3  DishSponge      -0.414         1.773          0.205          0              0              0              53
   4  DishSponge      -2.377         0.900          2.045          0              0              0              76
   5  Spatula         -2.485         0.677          0.519          0              270            0              63
   6  Spatula         -1.352         0.943          0.650          0              0              0              55
   7  Spoon           -1.007         0.797          0.337          0              0              0              73
   8  Fork            -2.686         0.901          1.913          0              0              0              76
   9  Fork            -2.269         0.662          0.300          0              90             0              63
  10  Pot             -0.535         0.928          4.274          0              0              0              59
  11  Cup             -1.770         0.927          0.518          0              0              0              55
  12  Cup             -0.657         0.900          2.530          0              0              0              78
  13  Plate           -0.486         0.904          2.329          0              0              0              78
  14  Knife           -0.486         0.926          3.334          0              0              0              78
  15  Knife           -2.628         0.961          3.209          0              0              0              62
  16  SoapBottle      -1.636         1.773          0.114          0              0              0              50
  17  SoapBottle      -0.143         0.900          3.133          0              0              0              78
  18  SaltShaker      -1.824         0.658          0.245          0              0              0              58
  19  Bread           -2.686         0.957          2.309          0              0              0              76
  20  Mug             -2.778         1.001          3.714          0              90             0              75
  21  Mug             -0.403         1.018          0.171          0              0              0              74
  22  Apple           -2.377         0.956          2.706          0              0              0              76
  23  Egg             -0.244         1.056          0.108          0              0              0              74
  24  Plate           -0.747         1.777          0.251          0              0              0              53
  25  Fork            -2.215         0.662          0.300          0              90             0              63
  26  Bread           -2.805         1.243          4.352          0              90             0              72
  27  Apple           -1.266         0.852          0.226          0              0              0              73
  28  Lettuce         -2.785         0.378          4.575          0              90             0              72
  29  Spatula         -1.353         0.812          0.392          0              270            0              73
  30  Knife           -2.170         0.953          0.433          0              180            0              55
  31  Potato          -3.022         0.961          3.209          0              0              0              62
  32  Tomato          -2.686         0.964          2.045          0              0              0              76
  33  Cup             -2.888         0.632          4.278          0              90             0              72
  34  SaltShaker      -1.662         0.658          0.300          0              0              0              58
  35  PepperShaker    -2.892         0.896          2.706          0              0              0              76
  36  ButterKnife     -0.272         0.662          0.355          0              0              0              44
  37  SoapBottle      -2.628         0.935          3.580          0              90             0              62
  38  Pan             -0.250         0.926          4.651          0              0              0              57
  39  DishSponge      -0.486         0.900          2.530          0              0              0              78
  40  Pot             -0.314         0.900          2.932          0              0              0              78
  41  Spoon           -2.892         0.901          2.045          0              0              0              76
  42  Mug             -2.549         0.930          3.766          0              0              0              62
  43  Bowl            -2.995         0.897          2.441          0              0              0              76
  44  Drawer          -0.325         0.696          0.413          0              0              0
  45  Cabinet         -0.595         0.490          0.648          0              0              0
  46  Cabinet         -0.555         0.490          0.646          0              0              0
  47  Cabinet         -1.591         0.490          0.646          0              0              0
  48  Cabinet         -1.554         0.490          0.646          0              0              0
  49  Cabinet         -2.550         0.490          0.646          0              0              0
  50  Cabinet         -1.514         2.046          0.392          0              0              0
  51  Cabinet         -2.474         2.046          0.392          0              0              0
  52  Cabinet         -1.478         2.046          0.392          0              0              0
  53  Cabinet         -0.518         2.046          0.392          0              0              0
  54  Cabinet         -0.479         2.046          0.392          0              0              0
  55  CounterTop      -1.366         0.952          0.349          0              0              0
  56  Sink            -1.108         0.926          0.340          0              0              0
  57  StoveBurner     -0.254         0.922          4.672          0              0              0
  58  Drawer          -1.824         0.696          0.413          0              0              0
  59  StoveBurner     -0.535         0.922          4.274          0              0              0
  60  StoveBurner     -0.254         0.922          4.274          0              0              0
  61  StoveBurner     -0.536         0.922          4.672          0              0              0
  62  CounterTop      -2.780         0.971          3.487          0              0              0
  63  Drawer          -2.323         0.696          0.413          0              0              0
  64  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  67  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  68  Toaster         -0.286         0.861          3.520          0              270            0
  69  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  70  LightSwitch     -0.064         1.447          1.996          0              270            0
  71  Window          -3.075         1.593          1.361          90             90             0
  72  Fridge          -2.802         0.0            4.427          0              0              0
  73  SinkBasin       -1.106         0.785          0.337          0              0              0
  74  Microwave       -0.358         0.917          0.224          0              0              0
  75  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  76  DiningTable     -2.733         -0.003         2.607          0              270            0
  77  Faucet          -1.077         0.920          0.028          270            270            0
  78  DiningTable     -0.488         -0.003         3.182          0              270            0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn to the left and walk forward to face the black cabinet. | STEP 2: Pick up the knife on the top of the black cabinet. | STEP 3: Turn to the left and walk across the room the face the sink. | STEP 4: Cut the apple on the table into three pieces. | STEP 5: Turn around and walk across the room and turn left to face the fridge. | STEP 6: Place the knife on the top rack in the fridge. | STEP 7: Turn left and walk across the room to face the sink. | STEP 8: Pick up a piece of apple in the sink. | STEP 9: Step to the left and face the microwave. | STEP 10: Warm the piece of apple in the microwave and then remove it. | STEP 11: Turn around and walk across the room and turn left to face the fridge. | STEP 12: Place the piece of apple in the fridge. | END