Task: Put a knife and a cooked apple in the refrigerator.

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           0.900          2.75           0              180            0
   1  Potato          -0.851         0.858          1.414          0              90             0              116
   2  Ladle           -0.590         0.840          2.418          0              0              0              65
   3  ButterKnife     -0.669         1.027          2.434          0              0              0              62
   4  ButterKnife     2.525          0.764          3.445          0              0              0              60
   5  WineBottle      -0.916         0.078          2.779          0              0              0              114
   6  WineBottle      2.276          0.765          3.969          0              270            0              60
   7  Glassbottle     2.649          1.027          1.252          0              136.999        0              59
   8  Glassbottle     2.899          0.033          -0.323         0              0              0              100
   9  Spatula         2.321          0.779          3.840          0              315            0              60
  10  Spatula         -0.577         0.831          1.337          0              0              0              116
  11  Spoon           -0.851         0.817          1.570          0              180            0              116
  12  Spoon           -0.803         0.802          2.510          0              270            0              65
  13  Fork            2.503          0.801          0.765          0              317.0          0              71
  14  Fork            -0.418         1.028          2.311          0              0              0              62
  15  Egg             2.370          1.070          1.550          0              136.999        0              59
  16  Egg             -0.347         1.071          1.356          0              0              0              62
  17  Cup             2.074          0.763          4.176          0              329.999        0              60
  18  Plate           1.721          2.280          -1.834         0              0              0              75
  19  Knife           2.008          0.789          3.632          0              225            0              60
  20  Knife           2.395          0.789          4.362          0              59.999         0              60
  21  Tomato          2.959          1.080          -1.456         0              0              0              59
  22  Tomato          -1.028         0.839          -0.073         0              90             0              103
  23  SoapBottle      2.451          0.763          4.145          0              0              0              60
  24  Bowl            -0.947         0.784          -0.627         0              90             0              103
  25  SaltShaker      2.274          0.798          1.014          0              317.0          0              72
  26  SaltShaker      1.703          0.796          1.536          0              317.0          0              74
  27  Bread           2.658          0.832          4.282          0              225            0              60
  28  Mug             1.956          0.759          3.685          0              225            0              60
  29  Apple           -0.714         0.866          1.492          0              90             0              116
  30  Apple           -0.645         0.866          1.259          0              90             0              116
  31  Pan             2.160          1.026          1.354          0              136.999        0              59
  32  Glassbottle     -1.028         0.786          -0.295         0              90             0              103
  33  Knife           1.170          1.052          -1.774         0              270            0              59
  34  SoapBottle      -0.854         1.762          0.444          0              0              0              94
  35  Egg             -0.922         1.486          -0.405         0              90             0              103
  36  Fork            2.376          0.765          4.145          0              0              0              60
  37  Potato          2.503          0.806          3.917          0              225            0              60
  38  Ladle           -0.645         0.855          1.103          0              0              0              116
  39  Tomato          2.800          0.818          4.118          0              270            0              60
  40  Pot             2.177          1.027          -1.599         0              0              0              58
  41  WineBottle      -0.418         1.028          2.189          0              0              0              62
  42  Plate           -1.021         1.780          2.254          0              0              0              97
  43  Spatula         -0.851         0.831          1.181          0              180            0              116
  44  PaperTowelRoll  2.175          0.868          4.447          0              329.999        0              60
  45  Lettuce         1.469          1.085          -1.454         0              90             0              59
  46  Apple           2.203          0.814          4.251          0              329.999        0              60
  47  SaltShaker      -0.448         0.798          0.373          0              0              0              61
  48  PepperShaker    -0.873         0.796          0.454          0              0              0              61
  49  ButterKnife     1.290          1.026          -1.667         0              90             0              59
  50  Bread           2.763          0.832          3.726          0              329.999        0              60
  51  Cup             -0.418         1.026          0.692          0              0              0              62
  52  DishSponge      1.925          0.764          4.044          0              270            0              60
  53  Bowl            2.414          0.762          3.736          0              329.999        0              60
  54  Spoon           1.290          1.028          -1.560         0              90             0              59
  55  Mug             -0.922         1.437          -0.295         0              90             0              103
  56  Sink            -0.716         1.023          1.333          0              0              0
  57  StoveBurner     1.835          1.018          -1.840         0              90             0
  58  StoveBurner     2.177          1.018          -1.599         0              0              0
  59  CounterTop      2.812          0.992          0.675          0              0              0
  60  DiningTable     2.419          0.003          3.930          0              0              0
  61  Drawer          -0.643         0.828          0.616          0              0              0
  62  CounterTop      -0.813         1.062          2.188          0              0              0
  63  StoveBurner     2.115          1.018          -1.840         0              270            0
  64  Drawer          -0.643         0.831          1.953          0              0              0
  65  Drawer          -0.643         0.833          2.418          0              0              0
  66  Drawer          1.347          0.836          -1.539         0              0              0
  67  Drawer          2.693          0.833          -1.131         0              0              0
  68  Drawer          2.693          0.833          -0.699         0              0              0
  69  Drawer          2.693          0.833          -0.267         0              0              0
  70  Drawer          2.693          0.833          0.163          0              0              0
  71  Drawer          2.524          0.833          0.720          0              2.000          0
  72  Drawer          2.232          0.833          1.036          0              2.000          0
  73  Drawer          1.936          0.833          1.354          0              2.000          0
  74  Drawer          1.646          0.833          1.670          0              2.000          0
  75  Cabinet         1.504          2.475          -1.710         0              0              0
  76  Cabinet         -0.823         2.220          1.621          0              0              0
  77  Cabinet         -0.823         2.220          0.615          0              0              0
  78  Cabinet         1.136          0.388          -1.355         0              0              0
  79  Cabinet         -0.356         0.383          2.626          0              0              0
  80  Cabinet         2.745          2.220          -1.690         0              0              0
  81  Cabinet         1.882          0.383          1.017          0              0              0
  82  Cabinet         1.307          0.473          1.640          0              0              0
  83  Cabinet         1.892          0.383          1.006          0              0              0
  84  Cabinet         2.467          0.383          0.383          0              0              0
  85  Cabinet         2.466          0.383          -0.475         0              0              0
  86  Cabinet         2.466          0.473          0.371          0              0              0
  87  Cabinet         2.386          2.475          -1.710         0              0              0
  88  Cabinet         -0.356         0.383          1.712          0              0              0
  89  Cabinet         2.745          2.220          0.019          0              0              0
  90  Cabinet         -0.663         2.496          0.157          0              0              0
  91  Cabinet         -0.663         2.496          -0.868         0              0              0
  92  Cabinet         -0.356         0.383          0.269          0              0              0
  93  Cabinet         -0.823         2.220          1.603          0              0              0
  94  Cabinet         -0.662         2.234          0.586          0              0              0
  95  Cabinet         2.745          2.220          -0.843         0              0              0
  96  Cabinet         2.745          2.220          -0.827         0              0              0
  97  Cabinet         -0.823         2.220          2.608          0              0              0
  98  Cabinet         2.732          2.226          -1.709         0              0              0
  99  Cabinet         1.137          2.226          -1.709         0              0              0
 100  Cabinet         2.466          0.383          -0.491         0              0              0
 101  Cabinet         2.466          0.383          -1.339         0              0              0
 102  StoveBurner     1.761          1.018          -1.599         0              0              0
 103  Fridge          -0.908         0.0            -0.405         0              0              0
 104  HousePlant      2.517          1.016          1.822          0              0              0
 105  Microwave       1.939          1.745          -1.826         0              0              0
 106  StoveKnob       2.017          1.041          -1.514         0              180            180
 107  StoveKnob       1.934          1.041          -1.514         0              180            180
 108  StoveKnob       2.017          1.041          -1.589         0              180            180
 109  StoveKnob       1.934          1.041          -1.589         0              180            180
 110  Window          1.756          1.608          4.762          90             0              0
 111  HousePlant      2.171          1.004          2.091          0              0              0
 112  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 113  LightSwitch     -0.099         1.410          -2.066         0              0              0
 114  GarbageCan      -0.951         -0.029         2.826          0              0              0
 115  Toaster         -1.007         1.018          2.238          0              90             0
 116  SinkBasin       -0.714         0.805          1.348          0              90             0
 117  Chair           1.615          0.004          4.310          0              107.976        0
 118  Faucet          -1.120         1.013          1.334          0              90             0
 119  Chair           2.759          0.004          3.086          0              358.967        0
 120
 121  NorthWall
 122  EastWall
 123  SouthWall
 124  WestWall

Plan:
STEP 1: Turn right to face the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Take a right and then right again and walk over to the white table. | STEP 4: Cut the apple in thirds with the knife. | STEP 5: Turn right and over to the counter, take a right for one step, take a left and walk to the far counter, then right to face the refrigerator. | STEP 6: Open the fridge, put the knife in it, and then close the door. | STEP 7: Turn right and walk over to the wall, turn right and over to the white table. | STEP 8: Pick up the piece of apple closest to the grey cup. | STEP 9: Turn around for one step, take a left and follow the counter until you are in front of the stove and stop. | STEP 10: Open the microwave, put the apple in with the peel facing out, and shut the door, turn on the microwave for a few second, then remove the apple and shut the door again. | STEP 11: Turn around for two steps, turn left and walk over to the fridge. | STEP 12: Open the fridge and put the apple on center front of the top shelf and shut the door. | END