Task: Place an apple slice on a plate into 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           -1.0           0.900          2.0            0              0              0
   1  Potato          -0.692         0.790          -1.559         0              0              0              67
   2  ButterKnife     1.762          0.910          0.415          0              90             0              40
   3  DishSponge      1.451          0.910          0.570          0              90             0              40
   4  DishSponge      1.355          0.910          -1.230         0              90             0              44
   5  Fork            0.553          0.911          -1.793         0              180            0              44
   6  Spatula         1.762          0.925          0.363          0              90             0              40
   7  Egg             1.451          0.945          0.363          0              90             0              40
   8  Cup             0.220          0.908          0.915          0              90             0              40
   9  SoapBottle      1.656          0.909          -1.802         0              90             0              44
  10  Tomato          -0.644         1.746          -1.559         0              0              0              67
  11  Tomato          -0.692         0.524          -1.605         0              0              0              67
  12  Bowl            1.805          1.634          -1.378         0              0              0              53
  13  SaltShaker      1.740          2.131          1.198          0              0              0              47
  14  PepperShaker    1.726          0.906          -1.717         0              90             0              44
  15  PepperShaker    1.529          0.905          0.518          0              90             0              40
  16  Bread           1.726          0.988          -1.460         0              90             0              44
  17  Mug             1.835          1.010          -0.888         0              0              0              64
  18  Plate           1.802          1.647          -0.000         0              0              0              50
  19  SoapBottle      0.159          0.909          -1.263         0              90             0              44
  20  Cup             1.878          2.134          1.236          0              0              0              47
  21  Egg             1.097          0.946          -1.230         0              90             0              44
  22  Fork            0.455          0.911          -1.352         0              90             0              44
  23  Ladle           1.501          0.954          1.092          0              90             0              40
  24  Apple           1.77           0.127          1.588          0              270            0              58
  25  SaltShaker      1.879          1.634          0.487          0              0              0              49
  26  Pan             1.543          0.909          -0.320         0              90             0              43
  27  Tomato          1.865          0.975          -1.802         0              90             0              44
  28  Spatula         1.586          0.926          -1.288         0              180            0              44
  29  Potato          -0.334         1.099          -1.382         0              0              0              67
  30  Knife           1.245          0.943          1.092          0              90             0              40
  31  ButterKnife     0.220          0.910          1.004          0              90             0              40
  32  Bread           1.615          0.977          0.761          0              50.525         0              40
  33  Lettuce         0.856          0.989          1.120          0              270            1.420          40
  34  PepperShaker    1.796          0.906          -1.631         0              90             0              44
  35  Pot             1.548          0.909          0.075          0              180            0              46
  36  DishSponge      0.963          0.760          -1.654         0              0              0              59
  37  Spoon           1.239          0.761          -1.544         0              0              0              59
  38  Bowl            1.805          1.652          -0.401         0              0              0              51
  39  Mug             0.502          0.940          -1.460         0              0              0              66
  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 the right, walk toward the refrigerator until passing the counter on the left, make a left and walk to the stove.  | STEP 2: Pick up the knife from the counter to the left of the stove top.  | STEP 3: Turn to the left, walk past the counter, turn to the right, and walk to the trash bin.  | STEP 4: Cut the apple that is in the trash bin into thirds.  | STEP 5: Turn to the right, walk towards the door, turning to the left before reaching it, walk to the refrigerator.  | STEP 6: Open the door. Place the knife on the bottom shelf with the tomato.  | STEP 7: Turn to the right and walk back to the trash bin.  | STEP 8: Pick up a slice of the apple. | STEP 9: Turn right and walk back to the the stove top.  | STEP 10: Open the left cabinet above the stove top and place the apple inside on the plate.  | STEP 11: Remove the plate with the apple on top. Close the door.  | STEP 12: Turn to the right and walk over to the refrigerator with the apple on the plate in hand.  | STEP 13: Open the door. Place the apple on the plate on the top shelf. Close the door.  | END