Task: To put a piece of apple in the fridge to the left of the knife.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.908          2.5            0              90             0
   1  SprayBottle     1.049          0.910          0.139          0              0              0              76
   2  SprayBottle     1.049          0.910          0.422          0              0              0              76
   3  Potato          0.951          0.931          2.369          0              0              0              108
   4  Potato          -1.475         0.794          2.830          0              0              0              57
   5  CellPhone       -0.658         0.909          -0.430         0              0              0              82
   6  DishSponge      1.444          0.911          0.706          0              0              0              76
   7  DishSponge      -1.197         0.749          2.087          0              0              0              57
   8  ButterKnife     1.367          0.886          2.477          0              0              0              108
   9  Glassbottle     1.387          2.155          1.087          0              0              0              66
  10  Glassbottle     1.450          0.887          2.369          0              0              0              108
  11  WineBottle      1.284          0.887          2.800          0              0              0              108
  12  WineBottle      -0.754         1.657          -0.786         0              0              0              61
  13  Kettle          -1.105         0.749          1.902          0              0              0              57
  14  Spoon           -1.012         0.750          2.644          0              0              0              57
  15  Fork            1.207          0.912          -0.428         0              0              0              76
  16  Fork            1.200          0.886          2.692          0              90             0              108
  17  Spatula         1.444          0.926          0.422          0              0              0              76
  18  Pot             0.502          0.939          -0.740         0              90             0              83
  19  Egg             -0.503         0.946          -0.907         0              0              0              82
  20  Egg             -1.362         0.946          -0.902         0              0              0              82
  21  Cup             -1.206         0.750          0.988          0              90             0              96
  22  Tomato          -1.378         0.800          1.197          0              90             0              96
  23  SoapBottle      1.128          0.912          0.706          0              0              0              76
  24  SoapBottle      -0.955         1.657          -0.817         0              0              0              62
  25  Bread           -1.320         1.700          0.883          0              90             0              96
  26  Bread           -1.206         1.484          0.883          0              90             0              96
  27  PepperShaker    0.045          0.112          -0.446         0              0              0              82
  28  Apple           0.103          0.818          -0.533         0              0              0              103
  29  Apple           0.951          0.946          2.477          0              0              0              108
  30  Apple           0.041          0.818          -0.691         0              0              0              103
  31  Bread           1.081          0.936          2.689          0              1.813          357.290        108
  32  Glassbottle     -1.099         0.342          0.673          0              90             0              96
  33  Fork            -1.383         0.750          2.459          0              0              0              57
  34  Kettle          -1.357         0.739          3.024          0              240.000        0              57
  35  Tomato          1.034          0.936          2.153          0              0              0              108
  36  Plate           -1.197         0.749          2.273          0              0              0              57
  37  CellPhone       -1.290         0.747          2.830          0              0              0              57
  38  Lettuce         -1.433         0.983          -0.509         0              0              0              82
  39  Pot             0.802          0.939          -0.740         0              90             0              85
  40  SoapBottle      -1.513         0.913          -0.817         0              0              0              82
  41  WineBottle      1.262          0.116          0.808          0              0              0              68
  42  Spatula         -1.383         0.764          2.830          0              270            0              57
  43  Bowl            1.365          0.909          -0.144         0              0              0              76
  44  Apple           -1.130         0.401          1.092          0              90             0              96
  45  Cup             -1.329         1.014          -0.057         0              90             0              102
  46  Knife           -0.038         0.934          -0.354         0              0              0              82
  47  Egg             -1.149         1.671          1.188          0              90             0              96
  48  SaltShaker      1.523          0.907          -0.428         0              0              0              76
  49  PepperShaker    1.286          0.907          0.139          0              0              0              76
  50  Potato          -1.206         1.333          1.092          0              90             0              96
  51  ButterKnife     -1.197         0.748          2.459          0              0              0              57
  52  DishSponge      -1.294         1.655          -0.052         0              0              0              64
  53  Pan             -1.105         0.748          2.830          0              270            0              57
  54  Spoon           1.200          0.887          2.153          0              0              0              108
  55  SprayBottle     0.951          0.873          2.800          0              0              0              108
  56  Mug             1.215          0.943          -0.633         0              320.314        0              95
  57  DiningTable     -1.182         0.006          2.414          0              90             0
  58  Cabinet         1.184          2.059          0.375          0              0              0
  59  Cabinet         1.184          2.059          -0.635         0              0              0
  60  Cabinet         0.591          2.309          -0.645         0              0              0
  61  Cabinet         -0.574         2.059          -0.644         0              0              0
  62  Cabinet         -1.103         2.059          -0.644         0              0              0
  63  Cabinet         -1.185         2.059          -0.331         0              0              0
  64  Cabinet         -1.185         2.059          -0.281         0              0              0
  65  Cabinet         -1.185         2.059          0.375          0              0              0
  66  Cabinet         1.184          2.309          1.174          0              0              0
  67  Cabinet         1.184          2.309          0.424          0              0              0
  68  Cabinet         0.988          0.402          0.581          0              0              0
  69  Cabinet         0.988          0.402          0.531          0              0              0
  70  Cabinet         0.988          0.402          -0.178         0              0              0
  71  Cabinet         0.335          0.402          -0.348         0              0              0
  72  Cabinet         -0.374         0.402          -0.348         0              0              0
  73  Cabinet         0.988          0.402          1.231          0              0              0
  74  Cabinet         -1.185         2.309          1.374          0              0              0
  75  Cabinet         -1.185         2.309          0.424          0              0              0
  76  CounterTop      1.274          0.947          0.064          0              0              0
  77  Drawer          1.116          0.792          -0.015         0              0              0
  78  Drawer          -1.116         0.792          0.210          0              180            0
  79  Cabinet         -0.990         0.402          0.374          0              180            0
  80  Drawer          -1.116         0.792          -0.170         0              180            0
  81  Cabinet         -0.990         0.402          -0.335         0              180            0
  82  CounterTop      -1.001         0.947          -0.669         0              0              0
  83  StoveBurner     0.502          0.932          -0.740         0              90             0
  84  StoveBurner     0.801          0.932          -0.473         0              0              0
  85  StoveBurner     0.801          0.932          -0.740         0              90             0
  86  Drawer          1.116          0.792          1.081          0              0              0
  87  Sink            -0.013         0.912          -0.615         0              0              0
  88  Drawer          1.116          0.792          0.732          0              0              0
  89  StoveBurner     0.502          0.932          -0.469         0              0              0
  90  Drawer          1.116          0.792          0.367          0              0              0
  91  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  92  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  93  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  94  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  95  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  96  Fridge          -1.300         0.008          0.987          0              90             0
  97  GarbageCan      1.296          -0.024         1.465          0              0              0
  98  Window          -0.012         1.641          -0.972         90             0              0
  99  Window          1.598          1.646          2.489          90             270            0
 100  Toaster         1.356          0.900          1.044          0              270            0
 101  LightSwitch     0.118          1.353          3.799          0              180            0
 102  Microwave       -1.343         0.900          0.053          0              90             0
 103  SinkBasin       -0.029         0.748          -0.612         0              0              0
 104  Faucet          -0.026         0.927          -0.808         0              0              0
 105  Shelf           -1.182         0.127          2.414          0              90             0
 106  Stool           1.140          0.007          3.262          1.206          20.753         0
 107  Shelf           -1.182         0.435          2.414          0              90             0
 108  DiningTable     1.169          0.014          2.569          0              0              1.896
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Turn around and walk across the room to face the table. | STEP 2: Pick up the knife on the table. | STEP 3: Take a step to the left to face the fridge. | STEP 4: Cut the apple in the fridge into three slices. | STEP 5: Place the knife in the fridge. | STEP 6: Pick up a piece of apple in the fridge. | STEP 7: Take a step to the left to face the microwave. | STEP 8: Heat the piece of apple in the microwave. | STEP 9: Take a step to the right and face the fridge. | STEP 10: Place the piece of apple to the left of the knife in the fridge. | END