Task: To place a cooked apple in 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           0.75           0.900          2.0            0              90             0
   1  DishSponge      -0.467         0.759          6.354          0              270            0              91
   2  DishSponge      0.305          0.759          6.291          0              270            0              91
   3  ButterKnife     1.582          0.992          3.324          0              0              0              55
   4  Kettle          1.456          1.578          1.410          0              0              0              65
   5  Pot             1.322          0.141          2.646          0              0              0              67
   6  Pot             1.32           0.988          3.848          0              0              0              54
   7  Fork            -0.312         0.760          6.541          0              180            0              91
   8  Fork            -0.221         0.760          6.787          0              90             0              91
   9  Cup             -0.510         0.756          6.565          0              135            0              91
  10  Cup             2.009          1.511          5.626          0              270            0              77
  11  SoapBottle      1.135          0.992          4.808          0              0              0              56
  12  Bowl            0.562          1.578          0.295          0              0              0              69
  13  PepperShaker    0.192          0.755          6.565          0              225            0              91
  14  PepperShaker    1.657          0.135          2.424          0              0              0              67
  15  SaltShaker      1.135          0.987          4.716          0              0              0              56
  16  SaltShaker      1.403          0.987          0.668          0              0              0              55
  17  Mug             0.273          1.092          0.180          0              90             0              71
  18  Apple           2.009          1.590          5.501          0              270            0              77
  19  Apple           -0.159         0.834          6.632          0              0              0              91
  20  Bowl            0.958          1.578          0.295          0              0              0              62
  21  Bread           1.099          1.048          0.434          0              0              0              55
  22  Egg             -0.618         0.810          6.284          0              225            0              91
  23  Knife           -0.487         0.789          6.807          0              135            0              91
  24  Fork            -0.401         0.760          6.456          0              225            0              91
  25  Apple           -0.284         0.834          6.632          0              0              0              91
  26  Kettle          1.238          0.141          3.143          0              0              0              66
  27  Plate           -0.611         0.993          0.303          0              0              0              55
  28  SaltShaker      -0.014         0.139          0.201          0              0              0              64
  29  Lettuce         -0.399         0.848          6.895          0              135            0              91
  30  SoapBottle      1.582          0.992          3.511          0              0              0              55
  31  Spatula         1.124          0.786          3.223          0              90             0              48
  32  PaperTowelRoll  -0.621         0.864          6.666          0              270            0              91
  33  Pot             1.317          0.988          4.294          0              0              0              50
  34  Potato          -0.332         0.794          6.217          0              225            0              91
  35  ButterKnife     -0.096         0.760          6.787          0              0              0              91
  36  PepperShaker    0.923          0.987          0.670          0              0              0              55
  37  Pan             1.562          0.988          3.848          0              0              0              49
  38  Tomato          2.055          0.130          6.528          0              0              0              79
  39  DishSponge      1.497          0.890          2.627          0              90             0              78
  40  Cup             0.104          0.756          6.653          0              225            0              91
  41  Spoon           0.059          0.761          6.698          0              45             0              91
  42  Mug             0.064          1.092          0.213          0              0              0              71
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn to the left and then walk to the end of the room before turning to face the table on the left.  | STEP 2: Grab the knife on the edge of the table.  | STEP 3: Turn to the left and then then go to the right twice around to the other side of the table.  | STEP 4: Use the knife to cut the apple next to the plant on the table.  | STEP 5: Keep the knife and walk to the right and then the left to approach the fridge.  | STEP 6: Open the refrigerator door and place the knife inside next to the apple and then close the fridge.  | STEP 7: Turn around and walk to the other side of the room before turning to the right twice to face the table.  | STEP 8: Take the cut apple in the middle of the table.  | STEP 9: Turn to the right and walk across the room to the microwave.  | STEP 10: Open the microwave and place the apple inside next to two cups, close the door and then turn the microwave on to cook the apple, before taking it out and closing the microwave door.  | STEP 11: Turn around and walk across the room before turning right to face the fridge.  | STEP 12: Open the fridge and place the cooked apple inside.  | END