Task: Cut the apple, place it on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          3.0            0              90             0
   1  Pan             -1.109         0.930          1.865          0              0              0              74
   2  Potato          -0.964         0.847          0.272          0              90             0              82
   3  Potato          -1.018         1.351          -0.110         0              90             0              82
   4  DishSponge      1.516          0.937          0.940          0              0              0              55
   5  DishSponge      -1.041         1.500          2.524          0              180            0              72
   6  Fork            1.746          0.938          0.940          0              90             0              55
   7  Fork            -0.792         0.747          0.847          0              270            0              73
   8  Spoon           -1.043         0.939          0.765          0              270            0              75
   9  Spatula         -0.896         0.761          2.517          0              270            0              51
  10  Spatula         1.439          0.952          1.007          0              0              0              55
  11  Egg             1.357          0.105          3.010          0              0              0              88
  12  Cup             1.684          1.595          1.598          0              270            0              89
  13  Cup             1.592          0.936          2.022          0              0              0              55
  14  Plate           -0.804         0.086          2.456          0              0              0              71
  15  Plate           -1.126         0.942          0.998          0              0              0              75
  16  Knife           -0.758         0.768          0.779          0              90             0              73
  17  Knife           -0.861         0.768          1.050          0              270            0              73
  18  Tomato          -1.012         0.876          -0.110         0              90             0              82
  19  SoapBottle      -1.081         1.500          2.216          0              180            0              81
  20  Bowl            -0.899         0.562          -0.034         0              90             0              82
  21  Bowl            1.670          1.497          2.555          0              0              0              69
  22  SaltShaker      1.746          0.934          2.022          0              0              0              55
  23  SaltShaker      -0.758         0.742          2.585          0              180            0              51
  24  PepperShaker    -0.712         0.934          2.159          0              0              0              51
  25  PepperShaker    -1.211         0.934          2.234          0              0              0              51
  26  Apple           1.669          0.987          0.873          0              0              0              55
  27  Apple           1.423          0.119          2.847          0              90             0              88
  28  Apple           -1.211         0.987          2.386          0              0              0              50
  29  Lettuce         1.457          1.014          1.681          4.271          59.966         0              77
  30  SoapBottle      1.430          0.081          2.532          0              0              0              59
  31  Bread           -0.923         0.990          2.265          0              302.470        0              50
  32  Fork            1.362          0.938          0.806          0              0              0              55
  33  Tomato          1.748          0.999          1.566          0              0              0              55
  34  Bowl            -1.018         1.315          0.195          0              90             0              82
  35  Pot             -1.109         0.930          1.470          0              0              0              52
  36  Spatula         1.275          0.761          2.527          0              270            0              53
  37  Knife           -0.723         0.768          0.779          0              90             0              73
  38  SaltShaker      1.624          1.944          1.551          0              0              0              68
  39  Apple           1.716          1.645          1.756          0              270            0              89
  40  PepperShaker    1.448          0.743          0.780          0              0              0              80
  41  ButterKnife     -0.960         0.937          0.998          0              0              0              75
  42  Potato          -1.126         0.970          0.687          0              0              0              75
  43  Plate           1.382          0.105          0.373          0              0              0              60
  44  DishSponge      1.362          0.937          0.873          0              0              0              55
  45  Egg             1.597          0.979          1.673          0              180            0              77
  46  Cup             1.391          0.080          0.918          0              0              0              76
  47  Pan             -0.924         1.498          0.195          0              90             0              82
  48  Spoon           1.362          0.945          1.840          0              180            0              77
  49  Mug             -0.793         0.932          1.154          0              0              0              75
  50  CounterTop      -0.973         0.973          2.386          0              0              0
  51  Drawer          -0.783         0.774          2.381          0              180            0
  52  StoveBurner     -1.108         0.922          1.470          0              0              0
  53  Drawer          1.370          0.774          2.391          0              0              0
  54  Stool           -0.748         0.008          3.116          0              0              0
  55  CounterTop      1.504          0.973          2.309          0              0              0
  56  Cabinet         1.219          1.388          0.591          0              0              0
  57  Cabinet         1.500          2.113          1.164          0              0              0
  58  Cabinet         1.219          2.010          0.591          0              0              0
  59  Cabinet         1.219          0.388          2.105          0              0              0
  60  Cabinet         1.219          0.553          0.591          0              0              0
  61  Cabinet         -0.913         2.113          1.164          0              0              0
  62  Cabinet         -0.633         0.388          0.627          0              0              0
  63  Cabinet         -0.913         2.050          -0.329         0              0              0
  64  Cabinet         -0.913         2.113          0.583          0              0              0
  65  Cabinet         -0.913         2.113          2.082          0              0              0
  66  Cabinet         -0.913         2.113          1.207          0              0              0
  67  Cabinet         1.500          2.113          2.082          0              0              0
  68  Cabinet         1.500          2.113          1.207          0              0              0
  69  Cabinet         1.500          1.810          2.691          0              0              0
  70  Cabinet         1.500          1.810          2.101          0              0              0
  71  Cabinet         -0.633         0.388          2.105          0              0              0
  72  Cabinet         -0.911         1.810          2.700          0              180            0
  73  Drawer          -0.783         0.774          0.915          0              180            0
  74  StoveBurner     -1.108         0.922          1.865          0              0              0
  75  CounterTop      -0.972         0.973          0.921          0              0              0
  76  Cabinet         1.219          0.388          0.631          0              0              0
  77  Sink            1.544          0.869          1.639          0              180            0
  78  StoveBurner     -0.832         0.922          1.865          0              0              0
  79  StoveBurner     -0.831         0.922          1.470          0              0              0
  80  Drawer          1.370          0.774          0.916          0              0              0
  81  Cabinet         -0.911         1.810          2.111          0              180            0
  82  Fridge          -1.001         0.0            0.119          0              0              0
  83  StoveKnob       -0.648         0.926          1.923          0              270            0
  84  StoveKnob       -0.648         0.926          1.363          0              270            0
  85  StoveKnob       -0.648         0.926          1.513          0              270            0
  86  StoveKnob       -0.648         0.926          1.763          0              270            0
  87  Toaster         -1.002         0.926          2.561          0              90             0
  88  GarbageCan      1.451          -0.029         2.912          0              0              0
  89  Microwave       1.632          1.480          1.645          0              270            0
  90  Window          0.224          1.601          3.509          90             0              0
  91  CoffeeMachine   1.692          0.926          2.453          0              270            0
  92  SinkBasin       1.461          0.833          1.369          0              180            0
  93  LightSwitch     0.451          1.412          -1.674         0              0              0
  94  Faucet          1.707          0.925          1.363          0              270            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn right, walk towards the counter next to the fridge | STEP 2: Grab the butter knife from the counter | STEP 3: Turn around, walk towards the counter next to the sink | STEP 4: Cut the apple with the butter knife | STEP 5: Turn around, walk back to the counter next to the fridge | STEP 6: Place the knife on top of the cup on the counter | STEP 7: Turn around and walk back to the counter next to the sink | STEP 8: Grab half of the cut up apple | STEP 9: Turn around and walk to the fridge | STEP 10: Open the fridge door and place the apple in the fridge next to the bowl, close the fridge door. Open the fridge again and grab the apple | STEP 11: Walk to the right to the counter next to the fridge | STEP 12: Place the apple on the counter | END