Task: To chill a piece of apple and put it down on the white table.

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            0.901          -0.25          0              0              0
   1  WineBottle      -0.425         0.791          0.377          0              0              0              75
   2  ButterKnife     -0.042         0.791          0.881          0              0              0              75
   3  Spoon           -0.196         0.792          0.545          0              180            0              75
   4  Spoon           1.954          0.747          2.197          0              0              0              63
   5  Fork            0.002          0.746          1.925          0              0              0              47
   6  Fork            -0.196         0.791          0.377          0              0              0              75
   7  Plate           0.708          0.085          2.523          0              0              0              55
   8  Knife           1.802          0.772          0.583          0              90             0              57
   9  Tomato          -0.196         0.837          1.049          0              0              0              75
  10  Tomato          -0.196         0.837          1.386          0              0              0              75
  11  SaltShaker      2.150          0.932          2.260          0              0              0              48
  12  SaltShaker      2.244          1.496          2.425          0              0              0              41
  13  PepperShaker    0.033          0.785          1.217          0              0              0              75
  14  PepperShaker    -0.119         0.785          0.881          0              0              0              75
  15  Lettuce         0.033          0.852          0.377          0              0              0              75
  16  Apple           2.225          0.988          0.806          0              0              0              59
  17  Egg             2.257          0.980          2.898          0              0              0              48
  18  Lettuce         2.168          1.385          -0.097         0              270            0              69
  19  Fork            0.735          0.802          2.695          0              180            0              72
  20  SoapBottle      0.423          0.082          2.445          0              0              0              55
  21  Ladle           1.997          0.982          1.866          0              0              0              48
  22  Ladle           -0.096         0.942          2.546          6.888          45             340.409        48
  23  Bread           0.060          0.985          2.688          0              0              0              48
  24  SaltShaker      -0.119         0.785          1.217          0              0              0              75
  25  Potato          2.158          0.901          -0.097         0              270            0              69
  26  Pan             2.140          0.935          1.504          0              180            0              43
  27  WineBottle      -0.272         0.791          1.217          0              0              0              75
  28  Spatula         0.037          0.761          2.197          0              270            0              47
  29  Knife           -0.349         0.816          1.386          0              180            0              75
  30  Tomato          2.250          0.648          -0.460         0              270            0              69
  31  Apple           -0.042         0.840          0.545          0              0              0              75
  32  ButterKnife     1.660          0.926          2.473          0              352.515        0              48
  33  Pot             1.854          0.937          1.497          0              0              0              52
  34  PepperShaker    2.127          1.498          0.695          0              0              0              56
  35  Cup             2.165          1.501          0.388          0              0              0              56
  36  DishSponge      2.002          0.081          2.199          0              0              0              44
  37  Plate           -0.349         0.795          0.713          0              0              0              75
  38  Spoon           1.954          0.747          1.922          0              0              0              63
  39  Mug             0.288          0.932          2.897          0              0              0              48
  40  Bowl            -0.078         0.078          2.129          0              0              0              42
  41  Cabinet         2.041          2.113          2.618          0              0              0
  42  Cabinet         0.126          0.388          1.774          0              0              0
  43  StoveBurner     2.140          0.929          1.504          0              180            0
  44  Cabinet         1.760          0.388          2.346          0              0              0
  45  Cabinet         1.760          0.388          0.869          0              0              0
  46  Cabinet         2.041          1.810          0.283          0              0              0
  47  Drawer          -0.024         0.774          2.061          0              0              0
  48  CounterTop      1.065          0.973          2.666          0              0              0
  49  Cabinet         1.969          2.113          2.618          0              0              0
  50  StoveBurner     2.140          0.929          1.106          0              0              0
  51  Cabinet         2.041          2.113          1.809          0              0              0
  52  StoveBurner     1.866          0.929          1.504          0              180            0
  53  Cabinet         2.041          2.113          1.766          0              0              0
  54  Cabinet         1.514          0.388          2.360          0              0              0
  55  Cabinet         0.351          0.388          2.360          0              0              0
  56  Cabinet         2.041          1.810          0.872          0              0              0
  57  Drawer          2.167          0.774          0.582          0              0              0
  58  Cabinet         2.041          2.113          0.892          0              0              0
  59  CounterTop      2.060          0.973          0.583          0              0              0
  60  Sink            0.935          0.936          2.646          0              0              0
  61  Curtains        0.964          2.061          2.989          0              0              0
  62  StoveBurner     1.863          0.929          1.106          0              0              0
  63  Drawer          1.911          0.774          2.060          0              0              0
  64  StoveKnob       2.326          1.092          1.610          288.013        90             0
  65  StoveKnob       2.326          1.092          1.460          288.013        90             0
  66  StoveKnob       2.326          1.092          1.210          288.013        90             0
  67  StoveKnob       2.326          1.092          1.050          288.013        90             0
  68  Toaster         2.126          0.926          0.572          0              270            0
  69  Fridge          2.104          0.0            -0.279         0              270            0
  70  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  71  LightSwitch     0.354          1.518          -1.031         0              0              0
  72  SinkBasin       0.903          0.784          2.640          0              0              0
  73  Microwave       -0.310         0.926          2.077          0              90             0
  74  CoffeeMachine   2.084          0.927          2.667          0              225            0
  75  DiningTable     -0.153         -0.000         1.073          0              270            0
  76  Faucet          1.175          0.926          2.950          270            90             0
  77  Faucet          0.686          0.926          2.950          270            90             0
  78  Chair           -0.077         0.002          0.196          0              15.000         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn left and face the right side of the white table.  | STEP 2: Pick up the knife in front of the pepper shaker on the left.  | STEP 3: Turn around and walk to the counter to the right of the stove with the green apple on it.  | STEP 4: Slice the green apple to the left of the toaster.  | STEP 5: Put the knife down on the right edge of the counter.  | STEP 6: Pick up half of the green apple.  | STEP 7: Turn and walk to the front of the fridge on the right.  | STEP 8: Place the piece of apple inside of the fridge next to the tomato, close the door, wait a few seconds to chill half the apple, take the apple out of the fridge, and close the door.  | STEP 9: Turn around and walk back to the white table and facing the middle of the table.  | STEP 10: Place the piece of apple down on the white table to the right of the whole apple.  | END