Task: Cut an apple, cool a piece of the apple

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          7.25           0              90             0
   1  Pan             1.32           0.988          3.848          0              0              0              60
   2  ButterKnife     0.056          0.771          0.451          0              0              0              58
   3  ButterKnife     1.236          0.771          3.223          0              0              0              54
   4  Kettle          1.562          0.988          3.848          0              0              0              55
   5  Pot             1.559          0.988          4.294          0              0              0              59
   6  Spoon           -0.621         0.761          6.416          0              270            0              97
   7  Spatula         -0.617         0.787          0.395          0              90             0              57
   8  Fork            1.236          0.772          3.429          0              0              0              54
   9  Cup             0.622          1.575          0.339          0              0              0              75
  10  Cup             2.009          1.511          5.251          0              270            0              83
  11  Plate           -0.552         0.144          0.353          0              0              0              69
  12  Plate           -0.487         0.760          6.807          0              135            0              97
  13  Knife           0.668          0.802          0.451          0              90             0              53
  14  Knife           0.847          1.022          0.303          0              180            0              61
  15  Tomato          1.497          0.940          2.474          0              90             0              84
  16  SoapBottle      0.150          0.760          6.479          0              270            0              97
  17  Bowl            -0.014         0.143          0.277          0              0              0              70
  18  Bowl            1.406          0.139          3.291          0              0              0              72
  19  PepperShaker    0.028          0.755          6.632          0              0              0              97
  20  PepperShaker    -0.034         0.755          6.014          0              0              0              97
  21  SaltShaker      1.079          1.574          0.119          0              0              0              75
  22  Mug             0.046          1.574          0.338          0              0              0              74
  23  Mug             1.384          1.043          0.847          0              270            0              61
  24  Apple           0.079          0.834          6.063          0              135            0              97
  25  Apple           1.403          1.067          1.350          0              0              0              61
  26  Bowl            1.406          0.139          2.646          0              0              0              73
  27  Bread           0.696          1.062          0.486          0              0              0              61
  28  Egg             -0.245         0.810          6.830          0              135            0              97
  29  Knife           1.403          1.022          3.324          0              0              0              61
  30  Fork            0.938          0.772          0.395          0              90             0              53
  31  Apple           0.300          0.834          6.284          0              135            0              97
  32  Kettle          1.593          0.981          3.25           0              255.000        0              61
  33  Plate           1.573          0.141          1.864          0              0              0              50
  34  SaltShaker      1.671          0.987          3.044          0              0              0              61
  35  Lettuce         -0.467         0.848          6.479          0              270            0              97
  36  SoapBottle      0.305          0.760          6.604          0              270            0              97
  37  Spatula         -0.345         0.786          0.563          0              0              0              57
  38  PaperTowelRoll  1.582          1.096          0.440          0              0              0              61
  39  Pot             1.317          0.988          4.294          0              0              0              56
  40  Potato          2.009          1.550          5.376          0              270            0              83
  41  ButterKnife     0.058          0.760          6.261          0              135            0              97
  42  PepperShaker    0.501          1.574          0.295          0              0              0              75
  43  Pan             -0.687         0.990          0.303          0              0              0              61
  44  Tomato          -0.093         0.809          6.633          0              225            0              97
  45  DishSponge      0.604          0.143          0.418          0              0              0              67
  46  Cup             1.495          2.203          4.262          0              0              0              49
  47  Spoon           1.404          0.772          3.429          0              0              0              54
  48  Mug             2.094          1.510          5.501          0              270            0              83
  49  Cabinet         1.307          2.455          4.360          0              0              0
  50  Cabinet         1.054          0.422          1.710          0              0              0
  51  Drawer          1.280          0.808          4.718          0              0              0
  52  Cabinet         1.307          2.455          3.607          0              0              0
  53  Drawer          0.736          0.802          0.521          0              0              0
  54  Drawer          1.276          0.802          3.291          0              0              0
  55  StoveBurner     1.562          0.982          3.848          0              0              0
  56  StoveBurner     1.317          0.982          4.294          0              0              0
  57  Drawer          -0.482         0.802          0.521          0              0              0
  58  Drawer          0.124          0.802          0.521          0              0              0
  59  StoveBurner     1.559          0.982          4.294          0              0              0
  60  StoveBurner     1.320          0.982          3.848          0              0              0
  61  CounterTop      1.391          1.028          0.897          0              0              0
  62  CounterTop      1.391          1.028          4.716          0              0              0
  63  Cabinet         1.054          0.422          4.548          0              0              0
  64  Cabinet         1.317          2.134          0.517          0              0              0
  65  Cabinet         1.317          2.134          4.889          0              0              0
  66  Cabinet         1.317          2.134          3.095          0              0              0
  67  Cabinet         0.443          0.422          0.743          0              0              0
  68  Cabinet         1.270          2.134          0.434          0              0              0
  69  Cabinet         -0.775         0.422          0.743          0              0              0
  70  Cabinet         -0.168         0.422          0.743          0              0              0
  71  Cabinet         1.317          2.134          1.534          0              0              0
  72  Cabinet         1.054          0.422          2.990          0              0              0
  73  Cabinet         1.054          0.422          2.944          0              0              0
  74  Cabinet         -0.263         2.134          0.434          0              0              0
  75  Cabinet         0.252          2.134          0.434          0              0              0
  76  Sink            1.391          1.006          2.326          0              0              0
  77  Microwave       0.108          0.981          0.262          0              0              0
  78  HousePlant      -0.165         0.826          6.444          0              0              0
  79  CoffeeMachine   1.551          0.982          0.953          0              270            0
  80  Toaster         1.473          0.981          4.715          0              270            0
  81  Window          -2.065         1.916          3.626          90             90             0
  82  Window          1.763          2.007          2.299          90             270            0
  83  Fridge          2.035          0.0            5.625          0              0              0
  84  SinkBasin       1.387          0.880          2.338          0              90             0
  85  GarbageCan      2.001          -0.044         6.503          0              0              0
  86  StoveKnob       1.140          0.934          3.987          45             270            0
  87  StoveKnob       1.140          0.934          4.309          45             270            0
  88  StoveKnob       1.140          0.934          4.140          45             270            0
  89  StoveKnob       1.140          0.934          3.824          45             270            0
  90  Vase            -0.226         0.834          6.993          0              0              0
  91  Vase            2.098          0.043          7.070          0              257.232        0
  92  Vase            -0.594         0.835          6.130          0              225            0
  93  LightSwitch     -2.0           1.549          6.045          0              90             0
  94  Safe            2.046          1.072          7.054          0              257.232        0
  95  Faucet          1.534          1.025          2.371          0              294.391        0
  96  Blinds          1.738          2.563          2.312          0              90             0
  97  DiningTable     -0.156         0.000          6.474          0              0              0
  98  Chair           0.291          0.002          6.142          0              310.162        0
  99  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn right, go forward, turn right and go to the table | STEP 2: Pick up the knife on the table | STEP 3: Go around the table to the right side of the table | STEP 4: Cut the apple on the table | STEP 5: Turn to the middle of the table  | STEP 6: Put the knife on the table | STEP 7: Turn to the edge of the table | STEP 8: Pick up an apple piece from the table  | STEP 9: Turn left, go forward, turn left to the fridge | STEP 10: Put the apple piece in the fridge, wait, pick up the apple piece from the fridge | STEP 11: Turn left, go forward, turn left to the table | STEP 12: Put the apple piece on the table | END