Task: Put a plate with a cut piece of cheese and a knife in a 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          -0.75          0              0              0
   1  Pan             1.807          0.909          -0.320         0              180            0              42
   2  ButterKnife     1.529          0.901          0.518          0              270            0              40
   3  DishSponge      1.245          0.910          0.915          0              90             0              40
   4  DishSponge      1.451          0.910          0.311          0              90             0              40
   5  Egg             1.800          0.105          1.540          0              270            0              58
   6  Cup             -0.741         1.387          -1.559         0              0              0              67
   7  Plate           1.839          0.912          0.415          0              90             0              40
   8  SoapBottle      1.840          1.631          -0.901         0              0              0              52
   9  Tomato          -0.334         1.127          -1.382         0              0              0              67
  10  Tomato          -0.741         1.746          -1.664         0              0              0              67
  11  Bowl            1.656          0.910          -1.374         0              90             0              44
  12  Bowl            -0.790         0.749          -1.594         0              0              0              67
  13  SaltShaker      1.451          0.905          0.467          0              90             0              40
  14  SaltShaker      1.769          1.648          -0.305         0              0              0              51
  15  PepperShaker    1.733          2.132          0.767          0              0              0              48
  16  Bread           1.726          0.988          -1.631         0              90             0              44
  17  Mug             1.805          1.640          -1.724         0              0              0              54
  18  Plate           1.802          1.647          -0.000         0              0              0              50
  19  SoapBottle      1.726          0.909          -1.802         0              90             0              44
  20  Cup             -0.692         0.458          -1.412         0              0              0              67
  21  Egg             1.803          1.050          -0.676         0              270            0              64
  22  Fork            1.501          0.911          1.180          0              90             0              40
  23  Ladle           1.201          0.926          0.743          3.363          0              346.986        40
  24  Apple           1.739          0.127          1.636          0              270            0              58
  25  SaltShaker      0.159          0.906          -1.263         0              90             0              44
  26  Pan             1.543          0.909          -0.320         0              90             0              43
  27  Tomato          -0.790         1.746          -1.524         0              0              0              67
  28  Spatula         0.220          0.925          0.739          0              90             0              40
  29  Potato          1.032          0.800          -1.654         0              0              0              59
  30  Knife           1.139          0.761          -1.584         271.557        81.707         278.446        59
  31  ButterKnife     0.296          0.9            -1.296         0              14.568         0              44
  32  Bread           1.615          0.977          0.761          0              50.529         0              40
  33  Lettuce         0.856          0.989          1.120          0              270            1.472          40
  34  PepperShaker    1.841          1.630          -1.419         0              0              0              53
  35  Pot             1.807          0.909          0.075          0              180            0              41
  36  DishSponge      1.800          0.069          1.827          0              270            0              58
  37  Spoon           1.865          0.912          -1.802         0              180            0              44
  38  Bowl            1.757          0.909          1.092          0              90             0              40
  39  Mug             1.736          1.634          0.487          0              90             0              49
  40  CounterTop      0.989          0.946          1.016          0              90             0
  41  StoveBurner     1.807          0.907          0.075          0              180            0
  42  StoveBurner     1.807          0.907          -0.320         0              180            0
  43  StoveBurner     1.543          0.907          -0.320         0              90             0
  44  CounterTop      0.989          0.946          -1.516         0              90             0
  45  Sink            1.100          0.906          -1.599         0              0              0
  46  StoveBurner     1.548          0.907          0.075          0              180            0
  47  Cabinet         1.658          2.299          1.313          0              0              0
  48  Cabinet         1.658          2.299          0.686          0              0              0
  49  Cabinet         1.658          2.049          0.673          0              0              0
  50  Cabinet         1.658          2.059          0.193          0              0              0
  51  Cabinet         1.658          2.059          -0.593         0              0              0
  52  Cabinet         1.658          2.049          -0.606         0              0              0
  53  Cabinet         1.658          2.049          -1.206         0              0              0
  54  Cabinet         1.658          2.049          -1.893         0              0              0
  55  Toaster         0.131          0.900          -1.589         0              0              0
  56  Window          -0.372         1.588          3.349          90             0              0
  57  Window          0.782          1.741          -1.893         90             0              0
  58  GarbageCan      1.770          -0.029         1.685          0              270            0
  59  SinkBasin       1.091          0.740          -1.599         0              0              0
  60  StoveKnob       1.364          0.821          0.086          48.421         270            0
  61  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  64  Microwave       1.752          0.900          -0.843         0              270            0
  65  LightSwitch     2.0            1.261          3.094          0              270            0
  66  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  67  Fridge          -0.533         0.0            -1.554         0              0              0
  68  Chair           1.068          0.000          1.752          0              191.622        0
  69  Faucet          1.110          1.138          -1.764         0              270            0
  70  Chair           0.357          0.000          1.710          0              178.899        0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: Turn to sink | STEP 2: Pick up knife from the sink | STEP 3: Walk across the room to the bin | STEP 4: Cut the cheese in the bin | STEP 5: Walk to the stove | STEP 6: Place the knife on the plate next to the stove | STEP 7: Walk over to the bin | STEP 8: Pick up a cheese slice | STEP 9: Walk to the stove | STEP 10: Put the cheese slice on the plate that has the knife | STEP 11: Pick up the plate | STEP 12: Walk to the refrigerator | STEP 13: Put the plate in the refrigerator | END