Task: Put a plate with an apple piece and knife in the refrigerator.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.899          4.25           0              270            0
   1  Pan             -4.184         0.923          4.900          0              90             0              69
   2  Pencil          -4.033         0.923          5.418          0              90             0              69
   3  Potato          -0.104         0.958          5.603          0              0              0              54
   4  Fork            -0.488         0.925          5.273          0              0              0              54
   5  Fork            -1.860         0.924          1.875          0              0              0              51
   6  Spoon           -4.094         0.755          2.413          0              0              0              49
   7  Spoon           -0.334         0.926          4.615          0              0              0              54
   8  Egg             -0.259         1.616          3.228          0              270            0              102
   9  Egg             -2.583         1.582          1.731          0              0              0              99
  10  Plate           -3.307         0.083          1.889          0              0              0              44
  11  Plate           -4.159         0.791          3.222          0              270            0              101
  12  Plate           -3.193         1.460          5.440          0              90             0              55
  13  Knife           -0.181         0.954          5.273          0              0              0              54
  14  SaltShaker      -4.381         0.919          2.533          0              0              0              69
  15  SaltShaker      -4.089         0.074          4.813          0              0              0              62
  16  Lettuce         -3.712         0.164          6.375          0              270            0              95
  17  Mug             -0.258         2.130          5.779          0              180            0              58
  18  Mug             -0.409         0.955          6.557          0              270            0              90
  19  Egg             -4.159         0.826          3.410          0              270            0              101
  20  Apple           -2.635         1.599          1.633          0              0              0              99
  21  Knife           -1.943         0.953          1.648          0              90             0              51
  22  Potato          -0.342         1.369          3.726          0              270            0              102
  23  Fork            -1.777         0.924          2.026          0              0              0              51
  24  Bowl            -3.454         1.456          5.440          0              90             0              55
  25  Plate           -3.374         0.924          5.182          0              90             0              69
  26  Lettuce         -0.348         1.165          3.726          0              270            0              102
  27  Bread           -0.348         1.150          3.355          0              270            0              102
  28  Tomato          -0.565         0.982          6.261          0              0              0              54
  29  WineBottle      -0.565         0.926          4.615          0              0              0              54
  30  Spatula         -0.411         0.940          5.603          0              0              0              54
  31  PaperTowelRoll  -1.777         1.027          1.648          0              0              0              51
  32  Cup             -0.218         1.684          3.794          0              270            0              102
  33  Pencil          -3.748         0.068          6.292          0              270            0              95
  34  Pan             -2.469         0.930          1.712          0              270            0              84
  35  Pot             -0.396         0.912          5.933          0              0              0              54
  36  SaltShaker      -3.510         0.741          5.133          0              180            0              60
  37  SoapBottle      -1.860         0.923          1.648          0              270            0              51
  38  PepperShaker    -3.124         0.741          5.192          0              180            0              81
  39  ButterKnife     -2.026         0.923          1.8            0              90             0              51
  40  DishSponge      -3.830         0.744          5.133          0              180            0              72
  41  Spoon           -4.159         0.792          3.472          0              0              0              101
  42  Mug             -4.271         0.785          3.410          0              270            0              101
  43  Cabinet         -3.203         1.931          1.777          0              0              0
  44  Cabinet         -3.187         0.390          2.089          0              0              0
  45  Cabinet         -0.637         0.387          6.882          0              180            0
  46  Drawer          -3.797         0.781          1.961          0              0              0
  47  Cabinet         -3.036         0.387          5.029          0              90             0
  48  Drawer          -0.509         0.775          5.268          0              270            0
  49  Drawer          -4.125         0.798          2.499          0              0              0
  50  Cabinet         -0.331         2.249          4.308          0              180            0
  51  CounterTop      -1.872         0.958          1.799          0              0              0
  52  StoveBurner     -2.924         0.924          2.012          0              0              0
  53  Cabinet         -0.331         2.249          6.806          0              180            0
  54  CounterTop      -0.345         0.960          5.603          0              0              0
  55  Cabinet         -3.039         1.935          5.321          0              90             0
  56  Cabinet         -3.922         0.397          2.088          0              0              0
  57  StoveBurner     -2.467         0.924          2.012          0              0              0
  58  Cabinet         -0.331         2.249          5.505          0              180            0
  59  Drawer          -0.509         0.775          4.617          0              270            0
  60  Drawer          -3.509         0.777          5.157          0              180            0
  61  Cabinet         -3.961         0.388          2.878          0              0              0
  62  Cabinet         -3.961         0.388          4.342          0              0              0
  63  Cabinet         -0.637         0.387          5.582          0              180            0
  64  Cabinet         -0.637         0.388          4.299          0              180            0
  65  Cabinet         -0.637         0.388          5.599          0              180            0
  66  StoveBurner     -2.924         0.924          1.712          0              180            0
  67  Drawer          -1.859         0.775          1.961          0              0              0
  68  Cabinet         -0.331         2.249          5.609          0              180            0
  69  CounterTop      -4.260         0.958          4.943          0              90             0
  70  Cabinet         -4.284         1.931          2.226          0              0              0
  71  Cabinet         -0.331         2.249          3.010          0              180            0
  72  Drawer          -3.801         0.777          5.157          0              180            0
  73  Cabinet         -4.112         1.935          5.321          0              90             0
  74  Cabinet         -3.968         0.388          3.662          0              0              0
  75  Drawer          -3.418         0.777          1.961          0              0              0
  76  Drawer          -4.090         0.777          4.661          0              90             0
  77  Faucet          -4.441         0.909          3.288          270            0              0
  78  Cabinet         -0.331         2.249          4.207          0              180            0
  79  Cabinet         -3.961         0.388          2.119          0              0              0
  80  Drawer          -0.509         0.775          5.920          0              270            0
  81  Drawer          -3.193         0.777          5.157          0              180            0
  82  Cabinet         -3.968         0.388          2.894          0              0              0
  83  Cabinet         -3.667         0.387          5.029          0              90             0
  84  StoveBurner     -2.469         0.924          1.712          0              270            0
  85  Cabinet         -1.539         0.388          2.090          0              0              0
  86  Sink            -4.190         0.921          3.279          0              0              0
  87  Cabinet         -3.641         0.387          5.029          0              90             0
  88  Cabinet         -1.583         1.931          1.777          0              0              0
  89  Drawer          -0.509         0.775          6.568          0              270            0
  90  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  91  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  92  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  95  GarbageCan      -3.711         -0.030         6.376          0              270            0
  96  Toaster         -3.578         0.912          1.763          0              0              0
  97  Curtains        -4.522         2.252          3.391          90             90             0
  98  Window          -4.868         1.629          3.309          90             270            0
  99  Microwave       -2.693         1.430          1.689          0              0              0
 100  LightSwitch     -1.588         1.169          1.506          0              0              0
 101  SinkBasin       -4.196         0.780          3.276          0              270            0
 102  Fridge          -0.324         -0.001         3.602          0              0              0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Back away from counter, turn right, walk to part of counter with plate, turn right, cross room to face counter with utensils on it. | STEP 2: Pick up yellow-handled knife from the counter, | STEP 3: Turn right, walk to counter with plate, turn left, walk to stove, turn to face stove with microwave over it. | STEP 4: Cut a third from  the apple that is in the microwave. | STEP 5: Turn right, walk to counter with blue plate. | STEP 6: Put the knife on plate on the counter. | STEP 7: Turn right, turn right, walk to microwave. | STEP 8: Take one third of the apple from the microwave. | STEP 9: Turn right, turn right,walk to counter with blue plate. | STEP 10: Put the piece of apple on the blue plate. | STEP 11: Pick up  the plate with the knife and piece of apple on it. | STEP 12: Turn right, turn right, turn left at stove, walk to refrigerator. | STEP 13: Put the plate in the refrigerator. | END