Task: To wash 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           -1.5           0.900          -1.75          0              0              0
   1  Glassbottle     -2.210         0.924          -2.345         0              0              0              79
   2  Pencil          -0.361         0.747          -3.297         0              270            0              65
   3  Pen             -2.324         0.926          -1.884         0              0              0              79
   4  Pen             -0.743         0.918          -3.555         0              0              0              54
   5  DishSponge      -2.552         0.923          -0.963         0              0              0              79
   6  ButterKnife     -2.552         0.923          -1.423         0              0              0              79
   7  WineBottle      -2.096         0.924          -2.345         0              0              0              79
   8  WineBottle      -0.260         1.531          -3.603         0              45             0              62
   9  Pot             -1.515         0.935          -3.497         0              0              0              51
  10  Pot             -1.129         0.935          -3.498         0              0              0              52
  11  Fork            -2.324         0.924          -2.115         0              270            0              79
  12  Spoon           -2.324         0.924          -1.423         0              0              0              79
  13  Knife           -2.780         0.946          -1.423         0              270            0              79
  14  Knife           -2.096         0.946          -1.884         0              90             0              79
  15  Plate           -0.460         0.083          -1.849         0              0              0              49
  16  Plate           -2.438         0.925          -1.193         0              0              0              79
  17  Cup             -0.422         0.080          -2.201         0              0              0              59
  18  Cup             -1.549         1.968          -3.773         0              0              0              63
  19  Tomato          -1.912         0.090          -3.763         0              0              0              70
  20  SaltShaker      -0.460         0.077          -3.267         0              0              0              60
  21  SaltShaker      -0.343         1.527          -3.795         0              45             0              62
  22  PepperShaker    -0.211         1.524          -2.914         0              0              0              66
  23  PepperShaker    -0.747         0.078          -3.662         0              0              0              58
  24  Apple           -1.151         1.703          -3.837         0              0              0              67
  25  Lettuce         -2.096         1.016          -2.115         0              0              0              79
  26  Glassbottle     -0.743         0.916          -3.626         0              0              0              54
  27  Egg             -0.447         0.830          -1.934         0              270            0              72
  28  Pen             -2.780         0.926          -2.345         0              0              0              79
  29  Fork            -2.438         0.924          -0.963         0              90             0              79
  30  SoapBottle      -2.552         0.922          -1.654         0              0              0              79
  31  Pencil          -0.720         0.747          -3.586         0              270            0              53
  32  WineBottle      -0.211         1.528          -2.598         0              0              0              66
  33  Spatula         -0.350         0.812          -1.860         0              270            0              72
  34  Bread           -0.414         0.952          -3.625         0              0              0              54
  35  Tomato          -2.096         0.987          -1.423         0              0              0              79
  36  Pan             -2.174         0.913          -1.099         0              0              0              79
  37  Cup             -2.666         0.922          -2.115         0              0              0              79
  38  Pot             -0.343         1.098          -0.560         0              270            0              71
  39  SaltShaker      -0.671         0.912          -3.839         0              0              0              54
  40  Potato          -0.081         0.947          -1.700         0              0              0              72
  41  PepperShaker    -0.436         0.912          -2.563         0              0              0              54
  42  ButterKnife     -2.438         0.923          -2.115         0              0              0              79
  43  DishSponge      -0.778         0.081          -3.506         0              0              0              58
  44  Spoon           -2.438         0.924          -1.884         0              0              0              79
  45  Plate           -0.343         1.101          -0.979         0              270            0              71
  46  Knife           -2.438         0.946          -2.345         0              0              0              79
  47  Mug             -0.351         0.962          -3.144         0              270            0              68
  48  Bowl            -1.100         1.968          -3.851         0              0              0              55
  49  Cabinet         -0.582         0.388          -1.804         0              0              0
  50  StoveBurner     -1.515         0.928          -3.752         0              90             0
  51  StoveBurner     -1.515         0.928          -3.497         0              0              0
  52  StoveBurner     -1.129         0.928          -3.498         0              0              0
  53  Drawer          -0.749         0.779          -3.551         0              0              0
  54  CounterTop      -0.303         0.951          -2.793         0              0              0
  55  Cabinet         -0.883         2.140          -3.687         0              0              0
  56  Cabinet         -0.312         2.140          -1.543         0              0              0
  57  Sink            -0.349         0.907          -2.014         0              0              0
  58  Cabinet         -0.877         0.388          -3.422         0              0              0
  59  Cabinet         -0.582         0.388          -2.197         0              0              0
  60  Cabinet         -0.584         0.388          -3.396         0              0              0
  61  Cabinet         -0.312         2.140          -2.481         0              0              0
  62  Cabinet         -0.330         1.921          -3.390         0              0              0
  63  Cabinet         -1.764         2.140          -3.687         0              0              0
  64  StoveBurner     -1.129         0.928          -3.752         0              90             0
  65  Drawer          -0.454         0.779          -3.268         0              0              0
  66  Cabinet         -0.302         1.916          -2.501         0              0              0
  67  Microwave       -1.317         1.517          -3.801         0              1.440          0
  68  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  69  LightSwitch     -4.323         1.319          0.0            0              180            0
  70  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  71  Fridge          -0.330         0.0            -0.769         0              270            0
  72  SinkBasin       -0.350         0.786          -2.018         0              270            0
  73  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  77  Toaster         -0.181         0.903          -2.764         0              270            0
  78  Window          -2.503         1.782          -4.185         90             180            0
  79  DiningTable     -2.432         0.000          -1.694         0              270            0
  80  Shelf           -2.432         0.150          -1.694         0              270            0
  81  Blinds          -2.536         2.699          -3.959         0              0              0
  82  Faucet          -0.079         0.904          -2.034         270            180            0
  83  Chair           -3.264         0.002          -2.094         0              53.280         0
  84  Chair           -3.240         0.002          -1.253         0              117.257        0
  85  Shelf           -2.432         0.523          -1.694         0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn left to face the center table. | STEP 2: Pick up the knife on the center table. | STEP 3: Turn left and cross the room to face the microwave. | STEP 4: Cut the apple in the microwave into three pieces. | STEP 5: Look up to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Look up to face the microwave. | STEP 8: Pick up an apple piece in the microwave. | STEP 9: Turn left and step forward to face the sink. | STEP 10: Wash the apple piece in the sink and remove it. | STEP 11: Take a step to the left to face the fridge. | STEP 12: Place the piece of apple in the fridge. | END