Task: Cleaning an apple and placing 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           0.5            0.901          0.25           0              90             0
   1  Pan             2.140          0.935          1.106          0              0              0              56
   2  Potato          -0.425         0.831          1.217          0              0              0              81
   3  Potato          2.122          0.642          -0.097         0              270            0              75
   4  WineBottle      1.840          0.939          0.509          0              0              0              65
   5  Ladle           1.837          0.790          0.446          0              90             0              63
   6  DishSponge      1.941          0.745          0.514          0              0              0              63
   7  DishSponge      1.118          0.794          2.529          0              0              0              78
   8  Spatula         2.150          0.952          2.162          0              180            0              54
   9  Fork            1.223          0.795          2.584          0              90             0              78
  10  Cup             -0.119         0.789          1.049          0              0              0              81
  11  Plate           2.059          0.342          -0.188         0              270            0              75
  12  Knife           0.002          0.772          1.925          0              90             0              53
  13  SoapBottle      -0.272         0.791          1.386          0              0              0              81
  14  SoapBottle      2.091          1.502          2.514          0              90             0              47
  15  Bowl            -0.349         0.787          0.713          0              0              0              81
  16  SaltShaker      1.925          0.077          2.199          0              0              0              50
  17  SaltShaker      0.033          0.785          1.049          0              0              0              81
  18  Lettuce         0.033          0.852          0.881          0              0              0              81
  19  Mug             -0.196         0.785          1.217          0              0              0              81
  20  Apple           -0.425         0.840          1.049          0              0              0              81
  21  Apple           2.158          0.910          -0.188         0              270            0              75
  22  Apple           -0.294         1.085          1.907          0              90             0              79
  23  Egg             1.997          0.980          2.260          0              0              0              54
  24  Lettuce         2.112          1.385          -0.460         0              270            0              75
  25  Fork            -0.272         0.791          1.049          0              90             0              81
  26  SoapBottle      -0.119         0.791          0.377          0              0              0              81
  27  Ladle           1.919          0.790          1.922          0              90             0              69
  28  Ladle           -0.282         0.982          2.827          0              0              0              54
  29  Bread           0.060          0.985          2.688          0              0              0              54
  30  SaltShaker      -0.348         0.932          2.504          0              0              0              54
  31  Potato          2.076          1.559          -0.278         0              270            0              75
  32  Pan             2.140          0.935          1.504          0              180            0              49
  33  WineBottle      0.033          0.791          1.386          0              0              0              81
  34  Spatula         1.673          0.952          2.821          0              180            0              54
  35  Knife           -0.119         0.816          0.545          0              90             0              81
  36  Tomato          1.844          0.983          2.260          0              0              0              54
  37  Apple           -0.167         0.987          2.827          0              0              0              54
  38  ButterKnife     -0.196         0.791          0.377          0              0              0              81
  39  Pot             1.854          0.937          1.497          0              0              0              58
  40  PepperShaker    2.040          0.077          1.986          0              270            0              50
  41  Cup             -0.272         0.789          0.881          0              0              0              81
  42  DishSponge      -0.119         0.790          1.386          0              0              0              81
  43  Plate           1.298          0.085          2.523          0              0              0              60
  44  Spoon           1.840          0.939          0.657          0              90             0              65
  45  Mug             -0.328         1.030          2.121          0              90             0              79
  46  Bowl            2.223          1.320          -0.279         0              270            0              75
  47  Cabinet         2.041          2.113          2.618          0              0              0
  48  Cabinet         0.126          0.388          1.774          0              0              0
  49  StoveBurner     2.140          0.929          1.504          0              180            0
  50  Cabinet         1.760          0.388          2.346          0              0              0
  51  Cabinet         1.760          0.388          0.869          0              0              0
  52  Cabinet         2.041          1.810          0.283          0              0              0
  53  Drawer          -0.024         0.774          2.061          0              0              0
  54  CounterTop      1.065          0.973          2.666          0              0              0
  55  Cabinet         1.969          2.113          2.618          0              0              0
  56  StoveBurner     2.140          0.929          1.106          0              0              0
  57  Cabinet         2.041          2.113          1.809          0              0              0
  58  StoveBurner     1.866          0.929          1.504          0              180            0
  59  Cabinet         2.041          2.113          1.766          0              0              0
  60  Cabinet         1.514          0.388          2.360          0              0              0
  61  Cabinet         0.351          0.388          2.360          0              0              0
  62  Cabinet         2.041          1.810          0.872          0              0              0
  63  Drawer          2.167          0.774          0.582          0              0              0
  64  Cabinet         2.041          2.113          0.892          0              0              0
  65  CounterTop      2.060          0.973          0.583          0              0              0
  66  Sink            0.935          0.936          2.646          0              0              0
  67  Curtains        0.964          2.061          2.989          0              0              0
  68  StoveBurner     1.863          0.929          1.106          0              0              0
  69  Drawer          1.911          0.774          2.060          0              0              0
  70  StoveKnob       2.326          1.092          1.610          288.013        90             0
  71  StoveKnob       2.326          1.092          1.460          288.013        90             0
  72  StoveKnob       2.326          1.092          1.210          288.013        90             0
  73  StoveKnob       2.326          1.092          1.050          288.013        90             0
  74  Toaster         2.126          0.926          0.572          0              270            0
  75  Fridge          2.104          0.0            -0.279         0              270            0
  76  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  77  LightSwitch     0.354          1.518          -1.031         0              0              0
  78  SinkBasin       0.903          0.784          2.640          0              0              0
  79  Microwave       -0.310         0.926          2.077          0              90             0
  80  CoffeeMachine   2.084          0.927          2.667          0              225            0
  81  DiningTable     -0.153         -0.000         1.073          0              270            0
  82  Faucet          1.175          0.926          2.950          270            90             0
  83  Faucet          0.686          0.926          2.950          270            90             0
  84  Chair           -0.077         0.002          0.196          0              15.000         0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn to your left and walk straight ahead to the sink turning to your left to face the microwave. | STEP 2: In the microwave, take out the apple and then shut the door. | STEP 3: Turn to the right until you are in front of the sink. | STEP 4: Place the apple in the left sink and then take it back out. | STEP 5: Turn around and walk straight to the door then to your left to face the fridge. | STEP 6: Open the fridge door and place the apple on the shelf with the other apple and shut the door again. | END