Task: To put a piece of apple in a pot as well as move it to the fridge.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          1.75           0              0              0
   1  Statue          -1.627         0.910          -0.288         0              0              0              57
   2  Vase            -2.659         0.875          3.728          0              0              0              59
   3  DishSponge      -0.403         0.121          -1.333         0              0              0              66
   4  ButterKnife     0.124          0.928          -1.573         0              270            0              54
   5  ButterKnife     -2.659         0.878          3.559          0              0              0              59
   6  Kettle          -0.367         0.708          -1.573         0              270            0              86
   7  Kettle          0.124          0.929          -1.429         0              270            0              54
   8  WineBottle      -0.888         1.655          -1.674         0              0              0              69
   9  Spatula         0.289          0.943          -1.501         0              270            0              54
  10  Pot             3.637          0.555          1.449          0              270            0              80
  11  Egg             0.079          0.828          2.194          0              180            0              82
  12  Plate           -1.378         0.916          -1.572         0              0              0              57
  13  Plate           -2.996         0.878          3.370          0              270            0              59
  14  Knife           -1.583         0.741          -1.073         0              90             0              72
  15  Knife           -2.321         0.896          3.370          0              270            0              59
  16  Bowl            -0.263         1.570          2.100          0              180            0              82
  17  Bowl            -1.649         0.117          -0.766         0              0              0              62
  18  SaltShaker      1.649          0.716          -1.377         0              0              0              73
  19  PepperShaker    -1.649         0.714          -0.717         0              0              0              72
  20  PepperShaker    -2.740         0.871          2.825          0              225            0              59
  21  Lettuce         0.617          0.977          -1.674         0              0              0              57
  22  Apple           -2.436         0.929          3.559          0              0              0              59
  23  Apple           -0.871         0.247          2.136          0              90             0              87
  24  Apple           -2.996         0.929          2.999          0              270            0              59
  25  Book            -1.94          0.900          -1.693         0              0              0              76
  26  Fork            -2.584         0.879          2.884          0              0              0              59
  27  Tomato          0.079          0.436          1.996          0              180            0              82
  28  Egg             0.307          0.828          2.308          0              180            0              82
  29  Kettle          -1.849         0.913          -0.288         0              0              0              57
  30  Vase            -1.738         0.913          -1.591         0              0              0              57
  31  Cup             0.179          0.927          -1.790         0              270            0              54
  32  WineBottle      -1.975         0.120          -1.653         0              0              0              58
  33  Plate           -0.149         0.807          2.194          0              180            0              82
  34  Spatula         -0.040         0.943          -1.646         0              90             0              54
  35  Potato          -2.196         0.915          3.475          0              225            0              59
  36  Pot             1.328          0.957          -1.420         0              180            0              61
  37  Knife           -2.554         0.900          3.326          0              315            0              59
  38  SaltShaker      3.689          0.877          1.759          0              270            0              78
  39  PepperShaker    -1.501         1.653          -1.784         0              0              0              70
  40  Lettuce         -2.510         0.939          2.715          0              0              0              59
  41  ButterKnife     -0.964         0.900          -1.296         0              29.999         0              57
  42  Bread           -1.601         0.980          -0.837         0              334.888        0              57
  43  Vase            0.093          0.115          -1.379         0              0              0              65
  44  DishSponge      -0.833         0.911          -1.572         0              0              0              57
  45  Apple           -0.377         0.858          2.137          0              180            0              82
  46  Pan             0.974          0.957          -1.688         0              180            0              56
  47  Spoon           0.482          0.719          -1.376         0              270            0              74
  48  SoapBottle      -2.001         1.657          -1.710         0              0              0              53
  49  Mug             0.665          1.648          -1.785         0              0              0              68
  50  Statue          -1.961         0.919          -0.614         0              0              0              57
  51  Statue          3.668          0.540          1.800          0              0              0              80
  52  Bowl            -2.321         0.876          3.221          0              270            0              59
  53  Cabinet         -2.171         2.009          -1.538         0              0              0
  54  Sink            0.024          0.771          -1.708         0              270            0
  55  Cabinet         1.444          2.259          -1.542         0              0              0
  56  StoveBurner     0.974          0.957          -1.688         0              180            0
  57  CounterTop      -1.866         0.947          -0.614         0              0              0
  58  Cabinet         -2.217         0.373          -1.874         0              0              0
  59  DiningTable     -2.663         0.002          3.208          0              0              0
  60  StoveBurner     1.328          0.957          -1.688         0              180            0
  61  StoveBurner     1.328          0.957          -1.420         0              180            0
  62  Cabinet         -1.478         0.373          -1.235         0              0              0
  63  Cabinet         1.775          0.372          -1.242         0              0              0
  64  Cabinet         0.774          0.372          -1.242         0              0              0
  65  Cabinet         0.375          0.372          -1.242         0              0              0
  66  Cabinet         -0.574         0.372          -1.238         0              0              0
  67  Cabinet         1.775          2.009          -1.542         0              0              0
  68  Cabinet         0.524          2.009          -1.542         0              0              0
  69  Cabinet         -0.714         2.009          -1.542         0              0              0
  70  Cabinet         -1.671         2.009          -1.538         0              0              0
  71  Cabinet         0.854          2.259          -1.542         0              0              0
  72  Drawer          -1.636         0.683          -0.930         0              0              0
  73  Drawer          1.650          0.682          -1.396         0              0              0
  74  Drawer          0.600          0.682          -1.396         0              0              0
  75  StoveBurner     0.974          0.957          -1.419         0              180            0
  76  Drawer          -2.062         0.683          -1.579         0              0              0
  77  CounterTop      1.645          0.945          -1.527         0              0              0
  78  Shelf           3.725          0.880          1.671          0              90             0
  79  LightSwitch     2.830          1.266          -0.748         0              0              0
  80  Shelf           3.726          0.552          1.671          0              90             0
  81  Microwave       1.150          1.655          -1.614         0              0              0
  82  Fridge          -0.035         0.0            2.177          0              180            0
  83  Window          -0.115         1.802          -1.896         90             0              0
  84  Window          -4.009         1.799          0.310          90             90             0
  85  Shelf           3.726          0.172          1.671          0              90             0
  86  SinkBasin       -0.330         0.686          -1.581         0              270            0
  87  GarbageCan      -0.870         -0.001         2.136          0              90             0
  88  StoveKnob       1.089          0.913          -1.243         45             0              0
  89  StoveKnob       1.208          0.913          -1.243         45             0              0
  90  StoveKnob       1.340          0.913          -1.243         45             0              0
  91  StoveKnob       0.961          0.913          -1.243         45             0              0
  92  Toaster         1.637          0.900          -1.673         0              0              0
  93  Chair           -3.505         0.002          3.290          0              105.736        0
  94  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  95  HousePlant      -2.663         0.835          3.209          0              0              0
  96  Faucet          -0.187         0.922          -1.75          0              311.166        0
  97  ShelvingUnit    3.726          0.006          1.671          0              90             0
  98  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  99  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 100  Chair           -2.934         0.002          2.437          0              28.531         0
 101  Chair           -1.698         0.002          3.235          0              245.204        0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn around and walk across the room to face the sink. | STEP 2: Pick up the knife on the left side of the sink. | STEP 3: Turn around and walk forward to face the trash can on the floor. | STEP 4: Cut the apple in the trash can into three pieces. | STEP 5: Place the knife in the trash can next to the apple. | STEP 6: Pick up the piece of apple in the trash can. | STEP 7: Turn right and walk across the room to face the shelves. | STEP 8: Place the piece of apple in the pot on the second shelf from the bottom. | STEP 9: Pick up the pot with a piece of apple in it. | STEP 10: Turn around and walk forward and turn right to face the fridge. | STEP 11: Place the pot with a piece of apple in it in the fridge. | END