Task: Preparing an apple and putting it 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           -1.5           0.869          -0.5           0              0              0
   1  Potato          -1.843         0.832          -3.738         0              0              0              70
   2  Potato          0.669          1.191          -1.880         0              270            0              68
   3  DishSponge      0.732          0.015          -0.053         0              0              0              58
   4  ButterKnife     0.769          0.759          -0.124         0              0              0              47
   5  Spatula         -0.051         0.915          0.843          0              180            0              74
   6  Spoon           0.769          0.761          0.002          0              0              0              47
   7  Fork            -0.654         0.901          0.843          0              270            0              74
   8  Pot             -2.097         0.930          0.785          0              0              0              50
   9  Egg             0.708          0.701          -2.035         0              270            0              68
  10  Egg             -1.151         0.088          -3.574         0              270            0              63
  11  Cup             -1.578         0.698          -3.445         0              0              0              75
  12  Cup             0.621          0.014          -0.768         0              0              0              51
  13  Knife           0.866          0.782          -0.252         0              90             0              47
  14  Tomato          0.803          0.931          -0.245         0              0              0              48
  15  SoapBottle      -1.260         0.051          -3.611         0              270            0              63
  16  SoapBottle      -0.855         0.899          1.187          0              270            0              74
  17  Bowl            -0.051         0.899          1.101          0              270            0              74
  18  PepperShaker    0.961          0.661          0.508          0              0              0              53
  19  PepperShaker    -1.620         0.696          -3.698         0              0              0              75
  20  SaltShaker      -1.620         0.692          -3.782         0              0              0              75
  21  SaltShaker      -1.635         0.698          -1.307         0              0              0              84
  22  Lettuce         -0.252         0.987          0.843          0              270            0              74
  23  Lettuce         0.715          0.859          -0.790         0              270            0              71
  24  Mug             0.812          1.458          0.596          0              270            0              60
  25  Apple           0.746          0.718          -1.880         0              270            0              68
  26  Pot             -1.552         0.930          0.785          0              0              0              52
  27  Plate           -2.024         0.692          -1.447         0              0              0              84
  28  Fork            0.841          0.665          0.448          0              0              0              53
  29  SoapBottle      -2.137         0.701          -1.199         0              0              0              84
  30  Apple           0.669          0.718          -1.725         0              270            0              68
  31  Pan             0.740          -0.007         -0.596         0              0              0              51
  32  Egg             1.040          0.920          -0.913         0              0              0              48
  33  Spatula         -1.803         0.716          -1.524         0              90             0              84
  34  Potato          0.824          1.191          -2.190         0              270            0              68
  35  Cup             0.601          0.663          0.265          0              0              0              53
  36  SaltShaker      0.566          0.012          -0.637         0              0              0              51
  37  PepperShaker    -0.252         0.896          1.272          0              270            0              74
  38  ButterKnife     0.754          0.755          -0.743         0              45             0              71
  39  DishSponge      -1.056         0.900          1.187          0              270            0              74
  40  Bread           -1.056         0.944          0.843          0              270            0              74
  41  Lettuce         0.661          0.751          0.508          0              0              0              53
  42  Tomato          0.901          0.713          0.387          0              0              0              53
  43  Spoon           0.799          0.773          -0.680         0              270            0              71
  44  Knife           0.721          0.687          0.630          0              180            0              53
  45  Mug             -2.054         0.794          -3.738         0              0              0              70
  46  Bowl            -2.038         0.691          -1.003         0              0              0              84
  47  Drawer          0.706          0.766          -0.125         0              0              0
  48  CounterTop      0.792          0.919          -0.108         0              0              0
  49  Mirror          1.093          1.602          -0.643         0              0              0
  50  StoveBurner     -2.096         0.890          0.785          0              0              0
  51  Cabinet         0.507          0.345          -0.426         0              0              0
  52  StoveBurner     -1.552         0.890          0.785          0              0              0
  53  SideTable       0.770          -0.030         0.443          0              0              0
  54  Sink            0.753          0.882          -0.680         0              0              0
  55  StoveBurner     -2.096         0.890          1.049          0              0              0
  56  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  57  StoveBurner     -1.554         0.890          1.049          0              0              0
  58  Cabinet         0.507          0.345          0.156          0              0              0
  59  Cabinet         0.717          1.822          -0.398         0              0              0
  60  Cabinet         0.717          1.822          0.669          0              0              0
  61  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  62  Toaster         -0.522         0.886          1.081          0              180            0
  63  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  64  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  65  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  66  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  67  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  68  Fridge          0.680          -0.031         -1.957         0              0              0
  69  Window          -2.424         1.639          -2.453         90             270            0
  70  Microwave       -1.994         0.690          -3.651         0              0              0
  71  SinkBasin       0.757          0.762          -0.688         0              270            0
  72  LightSwitch     1.102          1.368          -3.737         0              270            0
  73  Shelf           -0.350         0.124          0.857          0              0              0
  74  DiningTable     -0.350         -0.025         0.857          0              0              0
  75  DiningTable     -1.909         -0.032         -3.507         0              0              0
  76  Blinds          -2.343         2.151          -2.437         0              270            0
  77  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  78  AluminumFoil    0.751          0.225          0.287          0              0              0
  79  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  80  Shelf           0.771          0.226          0.445          0              0              0
  81  Shelf           0.771          0.456          0.446          0              0              0
  82  Faucet          1.025          0.873          -0.678         270            180            0
  83  Shelf           -0.350         0.497          0.857          0              0              0
  84  DiningTable     -1.929         -0.035         -1.398         0              90             0
  85  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around and go to the fridge to the left | STEP 2: Open the fridge, remove the apple in the middle and then close the fridge | STEP 3: Turn left and then move to the table straight ahead | STEP 4: Put the apple in the bowl behind the spatula | STEP 5: Turn to the small table just to the right | STEP 6: Pick up the knife from behind the lettuce | STEP 7: Turn to the table to the left | STEP 8: Cut the apple into slices | STEP 9: Put the knife into the bowl with the apple slices | STEP 10: Pick up the bowl with the apple and knife | STEP 11: Turn around and move to the fridge on the left | STEP 12: Open the fridge, place the bowl with the apple and knife inside, close the fridge door | END