Task: To cut an apple as well as place a piece in the freezer.

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            0.900          0.25           0              180            0
   1  Potato          -2.455         0.947          0.331          0              0              0              76
   2  DishSponge      -2.257         0.773          1.370          0              0              0              79
   3  DishSponge      1.646          0.184          0.706          0              0              0              87
   4  Kettle          1.691          0.929          -0.335         0              0              0              56
   5  Kettle          1.691          0.929          0.064          0              0              0              59
   6  Spoon           1.391          0.919          -1.061         0              225            0              62
   7  Spoon           1.426          0.912          0.465          0              0              0              57
   8  Spatula         -2.704         0.925          0.931          0              90             0              76
   9  Egg             1.855          0.941          0.465          0              0              0              57
  10  Egg             1.520          0.215          0.596          0              0              0              87
  11  Cup             1.329          0.916          -1.053         0              225            0              62
  12  Plate           -2.485         1.302          -0.602         0              90             0              80
  13  Knife           1.684          0.936          0.494          0              0              0              57
  14  Knife           1.428          0.936          -0.768         0              180            0              58
  15  Tomato          -2.578         1.342          -0.979         0              90             0              80
  16  Bowl            1.735          1.660          -0.479         0              0              0              68
  17  Bowl            -2.560         1.535          0.702          0              0              0              72
  18  PepperShaker    0.445          1.658          -1.802         0              90             0              55
  19  PepperShaker    -2.685         1.928          -1.034         0              0              0              69
  20  SaltShaker      -2.599         1.533          1.840          0              0              0              60
  21  Lettuce         -0.471         0.994          0.870          0              0              0              48
  22  Lettuce         -0.211         0.994          0.423          0              0              0              48
  23  Mug             -2.704         0.905          1.230          0              0              0              76
  24  Apple           -2.559         0.656          -0.603         0              90             0              80
  25  Pan             0.0            0.9            0.948          0              29.999         0              48
  26  Knife           -2.318         0.798          0.022          0              270            0              66
  27  Apple           -2.455         0.972          0.931          0              0              0              76
  28  Bowl            -2.277         0.112          1.423          0              0              0              54
  29  Fork            1.353          0.919          -1.239         0              45             0              62
  30  Bread           0.048          0.996          0.647          0              0              0              48
  31  Plate           -0.081         0.913          1.317          0              0              0              48
  32  Egg             1.684          0.941          0.435          0              0              0              57
  33  Kettle          1.412          0.929          -0.335         0              0              0              49
  34  Potato          -2.635         1.051          2.481          0              90             0              88
  35  SaltShaker      -2.704         0.905          0.331          0              0              0              76
  36  Lettuce         -0.341         0.994          1.764          0              0              0              48
  37  Cup             -2.420         0.592          -1.051         0              90             0              80
  38  SoapBottle      -2.206         0.912          0.031          0              0              0              76
  39  Spatula         -2.372         0.925          0.031          0              0              0              76
  40  PaperTowelRoll  -2.206         1.015          0.931          0              0              0              76
  41  ButterKnife     -0.211         0.910          1.540          0              0              0              48
  42  PepperShaker    -2.560         1.533          1.768          0              180            0              60
  43  DishSponge      1.415          0.922          -1.247         0              225            0              62
  44  Pot             -2.311         0.105          0.895          0              270            0              74
  45  Spoon           -2.318         0.775          0.809          0              90             0              53
  46  Tomato          -2.206         0.953          0.631          0              0              0              76
  47  Mug             0.464          0.955          -1.593         0              0              0              58
  48  CounterTop      -0.360         0.946          1.093          0              0              0
  49  StoveBurner     1.412          0.923          -0.335         0              0              0
  50  StoveKnob       1.878          1.093          0.018          287.989        90             0
  51  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  52  Cabinet         -2.446         1.948          2.924          0              0              0
  53  Drawer          -2.276         0.792          0.902          0              0              0
  54  Cabinet         -2.145         0.402          1.578          0              0              0
  55  Cabinet         0.149          2.008          -1.603         0              90             0
  56  StoveBurner     1.691          0.923          -0.335         0              0              0
  57  CounterTop      1.585          0.946          0.405          0              0              0
  58  CounterTop      0.474          0.946          -1.625         0              0              0
  59  StoveBurner     1.691          0.923          0.064          0              0              0
  60  Cabinet         -2.446         1.948          1.687          0              0              0
  61  Cabinet         -2.446         1.948          1.640          0              0              0
  62  Sink            1.381          0.810          -1.271         0              225            0
  63  StoveKnob       1.878          1.093          0.150          287.989        90             0
  64  Cabinet         -2.145         0.402          -0.236         0              0              0
  65  Drawer          -2.276         0.792          0.437          0              0              0
  66  Drawer          -2.276         0.792          -0.027         0              0              0
  67  Cabinet         1.572          2.008          0.474          0              0              0
  68  Cabinet         1.572          2.008          -0.775         0              0              0
  69  Cabinet         -2.445         2.148          -1.275         0              0              0
  70  Cabinet         -2.446         2.148          -0.284         0              0              0
  71  Cabinet         -2.446         1.948          0.355          0              0              0
  72  Cabinet         -2.446         1.948          0.405          0              0              0
  73  Cabinet         -2.145         0.402          0.644          0              0              0
  74  Cabinet         -2.145         0.402          0.695          0              0              0
  75  Cabinet         -2.285         1.968          -1.325         0              180            0
  76  CounterTop      -1.485         0.946          1.319          0              0              0
  77  StoveBurner     1.411          0.923          0.064          0              0              0
  78  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  79  Drawer          -2.276         0.792          1.368          0              0              0
  80  Fridge          -2.475         0.0            -0.782         0              90             0
  81  LightSwitch     -0.929         1.350          -1.950         0              0              0
  82  Toaster         -2.564         0.900          1.876          0              90             0
  83  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  84  Window          1.508          1.534          -1.496         90             135            0
  85  Window          1.973          1.521          1.121          90             90             0
  86  SinkBasin       1.149          0.753          -1.380         0              225            0
  87  GarbageCan      1.646          -0.000         0.679          0              0              0
  88  Microwave       -2.580         0.900          2.440          0              90             0
  89  Stool           0.439          0.010          0.747          0              0              0
  90  Stool           -2.303         0.010          1.839          0              0              0
  91  Faucet          1.235          1.138          -1.473         0              225            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Walk forward across the room and turn right to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk around the table to face the counter with tomato and apple on it on the far side of the room. | STEP 4: Cut the apple into three pieces. | STEP 5: Turn left, walk forward to the fridge and turn right to face it. | STEP 6: Place the knife on the top shelf in the fridge. | STEP 7: Turn right and walk forward and then turn left to face the apple on the counter. | STEP 8: Pick up a piece of the apple on the counter. | STEP 9: Turn right and walk over to face the microwave. | STEP 10: Heat the piece of apple in the microwave and then remove it. | STEP 11: Turn left, walk forward to the fridge and turn right to face it. | STEP 12: Place the piece of apple in the freezer. | END