Task: To chill an apple and put it down on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          0.75           0              0              0
   1  ButterKnife     -0.042         0.791          0.545          0              0              0              72
   2  Spatula         0.002          0.761          1.925          0              90             0              44
   3  Spoon           -0.042         0.792          0.377          0              0              0              72
   4  Spoon           0.060          0.938          2.827          0              0              0              45
   5  Cup             -0.294         1.034          2.121          0              90             0              70
   6  Plate           1.298          0.085          2.523          0              0              0              51
   7  Plate           2.206          1.505          2.010          0              0              0              48
   8  Knife           1.941          0.772          0.721          0              270            0              54
   9  Tomato          0.629          0.841          2.750          0              0              0              69
  10  Tomato          -0.425         0.983          2.478          0              0              0              45
  11  Bowl            2.079          0.599          -0.188         0              270            0              66
  12  SaltShaker      0.174          0.932          2.688          0              0              0              45
  13  Mug             2.064          0.989          2.462          0              225            0              71
  14  Egg             2.164          0.644          -0.550         0              270            0              66
  15  Lettuce         2.000          1.385          -0.279         0              270            0              66
  16  Fork            1.815          0.747          1.922          0              90             0              60
  17  SoapBottle      -0.196         0.791          1.049          0              0              0              72
  18  Ladle           -0.425         0.835          0.713          0              270            0              72
  19  Ladle           1.837          0.791          0.446          0              90             0              54
  20  Bread           -0.199         0.823          0.813          0              0              0              72
  21  SaltShaker      -0.349         0.785          0.881          0              0              0              72
  22  Potato          2.000          1.361          -0.550         0              270            0              66
  23  Pan             2.140          0.935          1.504          0              180            0              40
  24  WineBottle      2.074          0.938          2.162          0              0              0              45
  25  Spatula         -0.425         0.805          1.217          0              270            0              72
  26  Knife           0.735          0.827          2.695          0              270            0              69
  27  Tomato          0.033          0.837          0.713          0              0              0              72
  28  Apple           -0.395         1.085          1.907          0              90             0              70
  29  ButterKnife     1.917          0.938          0.361          0              180            0              56
  30  Pot             1.854          0.937          1.497          0              0              0              49
  31  PepperShaker    1.840          0.933          0.657          0              0              0              56
  32  Cup             2.280          1.501          0.388          0              0              0              53
  33  DishSponge      1.223          0.794          2.64           0              0              0              69
  34  Plate           -0.312         0.781          0.409          0              0              0              72
  35  Spoon           -0.272         0.792          1.386          0              0              0              72
  36  Mug             2.168          1.316          -0.188         0              270            0              66
  37  Bowl            -0.196         0.787          1.217          0              0              0              72
  38  Cabinet         2.041          2.113          2.618          0              0              0
  39  Cabinet         0.126          0.388          1.774          0              0              0
  40  StoveBurner     2.140          0.929          1.504          0              180            0
  41  Cabinet         1.760          0.388          2.346          0              0              0
  42  Cabinet         1.760          0.388          0.869          0              0              0
  43  Cabinet         2.041          1.810          0.283          0              0              0
  44  Drawer          -0.024         0.774          2.061          0              0              0
  45  CounterTop      1.065          0.973          2.666          0              0              0
  46  Cabinet         1.969          2.113          2.618          0              0              0
  47  StoveBurner     2.140          0.929          1.106          0              0              0
  48  Cabinet         2.041          2.113          1.809          0              0              0
  49  StoveBurner     1.866          0.929          1.504          0              180            0
  50  Cabinet         2.041          2.113          1.766          0              0              0
  51  Cabinet         1.514          0.388          2.360          0              0              0
  52  Cabinet         0.351          0.388          2.360          0              0              0
  53  Cabinet         2.041          1.810          0.872          0              0              0
  54  Drawer          2.167          0.774          0.582          0              0              0
  55  Cabinet         2.041          2.113          0.892          0              0              0
  56  CounterTop      2.060          0.973          0.583          0              0              0
  57  Sink            0.935          0.936          2.646          0              0              0
  58  Curtains        0.964          2.061          2.989          0              0              0
  59  StoveBurner     1.863          0.929          1.106          0              0              0
  60  Drawer          1.911          0.774          2.060          0              0              0
  61  StoveKnob       2.326          1.092          1.610          288.013        90             0
  62  StoveKnob       2.326          1.092          1.460          288.013        90             0
  63  StoveKnob       2.326          1.092          1.210          288.013        90             0
  64  StoveKnob       2.326          1.092          1.050          288.013        90             0
  65  Toaster         2.126          0.926          0.572          0              270            0
  66  Fridge          2.104          0.0            -0.279         0              270            0
  67  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  68  LightSwitch     0.354          1.518          -1.031         0              0              0
  69  SinkBasin       0.903          0.784          2.640          0              0              0
  70  Microwave       -0.310         0.926          2.077          0              90             0
  71  CoffeeMachine   2.084          0.927          2.667          0              225            0
  72  DiningTable     -0.153         -0.000         1.073          0              270            0
  73  Faucet          1.175          0.926          2.950          270            90             0
  74  Faucet          0.686          0.926          2.950          270            90             0
  75  Chair           -0.077         0.002          0.196          0              15.000         0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Walk up to the sink and turn left to face the microwave.  | STEP 2: Open the microwave door, pick up the apple, close the door.  | STEP 3: Turn and walk to the fridge on the left.  | STEP 4: Open the fridge door, put the apple down to the right of the white bowl, close the door, open the door, pick up the apple, close the door.  | STEP 5: Turn and walk to the counter to the left of the fridge.  | STEP 6: Put the apple down on the counter to the left of the knife.  | END