Task: To wash an apple piece 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           -3.75          0.900          -2.5           0              0              0
   1  Pencil          -1.975         0.027          -3.799         0              0              0              72
   2  Pencil          -2.096         0.923          -1.654         0              0              0              81
   3  Potato          -0.150         0.947          -2.563         0              0              0              56
   4  ButterKnife     -2.552         0.923          -1.654         0              0              0              81
   5  ButterKnife     -0.350         0.797          -1.934         0              270            0              74
   6  Pot             -1.129         0.935          -3.498         0              0              0              54
   7  Spatula         -2.438         0.938          -2.345         0              0              0              81
   8  Spatula         -2.096         0.938          -2.345         0              0              0              81
   9  Spoon           -2.096         0.924          -2.115         0              0              0              81
  10  Spoon           -0.222         0.916          -3.771         0              0              0              56
  11  Knife           -2.438         0.946          -0.963         0              0              0              81
  12  Plate           -0.322         1.533          -3.610         0              45             0              64
  13  Cup             -2.780         0.922          -2.345         0              0              0              81
  14  Egg             -1.849         0.059          -3.727         0              0              0              72
  15  Tomato          -2.666         0.987          -2.115         0              0              0              81
  16  Tomato          -0.348         1.754          -0.979         0              270            0              73
  17  Bowl            -0.308         1.689          -0.665         0              270            0              73
  18  SaltShaker      -0.053         0.912          -2.301         0              0              0              56
  19  SaltShaker      -0.436         0.912          -2.764         0              0              0              56
  20  PepperShaker    -0.778         0.742          -3.586         0              0              0              55
  21  Mug             -0.600         0.910          -3.909         0              0              0              56
  22  Mug             -0.398         0.792          -2.008         0              90             0              74
  23  Apple           -0.671         0.989          -3.768         0              0              0              56
  24  Apple           -2.780         0.996          -1.654         0              0              0              81
  25  Apple           -1.943         0.100          -3.690         0              0              0              72
  26  Apple           -1.257         1.703          -3.837         0              0              0              69
  27  Lettuce         -0.295         1.483          -0.560         0              270            0              73
  28  Glassbottle     -2.096         0.924          -1.884         0              0              0              81
  29  Egg             -0.447         0.831          -1.786         0              270            0              74
  30  Pen             -2.780         0.926          -1.193         0              0              0              81
  31  Fork            -2.324         0.924          -1.423         0              0              0              81
  32  SoapBottle      -0.222         0.914          -3.368         0              0              0              56
  33  Pencil          -2.666         0.923          -1.193         0              0              0              81
  34  WineBottle      -2.780         0.924          -0.963         0              0              0              81
  35  Spatula         -0.528         0.911          -3.485         0              0              0              56
  36  Bread           -0.415         0.952          -3.626         0              0              0              56
  37  Tomato          -0.343         1.162          -1.084         0              270            0              73
  38  Pan             -0.343         1.390          -0.979         0              180            0              73
  39  Cup             -2.780         0.922          -1.884         0              0              0              81
  40  Pot             -1.515         0.935          -3.497         0              0              0              53
  41  SaltShaker      -0.436         0.912          -3.368         0              0              0              56
  42  Potato          -2.096         0.954          -1.423         0              0              0              81
  43  PepperShaker    -2.210         0.919          -1.654         0              0              0              81
  44  ButterKnife     -2.552         0.923          -1.884         0              0              0              81
  45  DishSponge      -0.457         0.915          -3.839         0              0              0              56
  46  Spoon           -2.666         0.924          -1.423         0              0              0              81
  47  Plate           -0.343         1.101          -0.874         0              270            0              73
  48  Knife           -2.269         0.920          -2.143         90             315            0              81
  49  Mug             -2.780         0.918          -1.423         0              0              0              81
  50  Bowl            -0.295         1.097          -0.560         0              270            0              73
  51  Cabinet         -0.582         0.388          -1.804         0              0              0
  52  StoveBurner     -1.515         0.928          -3.752         0              90             0
  53  StoveBurner     -1.515         0.928          -3.497         0              0              0
  54  StoveBurner     -1.129         0.928          -3.498         0              0              0
  55  Drawer          -0.749         0.779          -3.551         0              0              0
  56  CounterTop      -0.303         0.951          -2.793         0              0              0
  57  Cabinet         -0.883         2.140          -3.687         0              0              0
  58  Cabinet         -0.312         2.140          -1.543         0              0              0
  59  Sink            -0.349         0.907          -2.014         0              0              0
  60  Cabinet         -0.877         0.388          -3.422         0              0              0
  61  Cabinet         -0.582         0.388          -2.197         0              0              0
  62  Cabinet         -0.584         0.388          -3.396         0              0              0
  63  Cabinet         -0.312         2.140          -2.481         0              0              0
  64  Cabinet         -0.330         1.921          -3.390         0              0              0
  65  Cabinet         -1.764         2.140          -3.687         0              0              0
  66  StoveBurner     -1.129         0.928          -3.752         0              90             0
  67  Drawer          -0.454         0.779          -3.268         0              0              0
  68  Cabinet         -0.302         1.916          -2.501         0              0              0
  69  Microwave       -1.317         1.517          -3.801         0              1.440          0
  70  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  71  LightSwitch     -4.323         1.319          0.0            0              180            0
  72  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  73  Fridge          -0.330         0.0            -0.769         0              270            0
  74  SinkBasin       -0.350         0.786          -2.018         0              270            0
  75  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  77  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  78  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  79  Toaster         -0.181         0.903          -2.764         0              270            0
  80  Window          -2.503         1.782          -4.185         90             180            0
  81  DiningTable     -2.432         0.000          -1.694         0              270            0
  82  Shelf           -2.432         0.150          -1.694         0              270            0
  83  Blinds          -2.536         2.699          -3.959         0              0              0
  84  Faucet          -0.079         0.904          -2.034         270            180            0
  85  Chair           -3.264         0.002          -2.094         0              53.280         0
  86  Chair           -3.240         0.002          -1.253         0              117.257        0
  87  Shelf           -2.432         0.523          -1.694         0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn right and walk across the room to face the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and walk forward to face the apple on the sink. | STEP 4: Cut the apple on the sink into three pieces. | STEP 5: Turn left to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn right to face the apple on the counter. | STEP 8: Pick up the apple piece on the counter. | STEP 9: Turn left to face the sink. | STEP 10: Wash the apple piece in the sink and then remove it. | STEP 11: Step to the left to face the fridge. | STEP 12: Place the apple piece in the fridge. | END