Task: Put a piece of cold apple on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.901          -0.5           0              180            0
   1  Pan             2.140          0.935          1.106          0              0              0              56
   2  Ladle           -0.041         0.982          2.399          0              0              0              54
   3  DishSponge      1.840          0.937          0.361          0              0              0              65
   4  ButterKnife     -0.196         0.791          1.386          0              0              0              81
   5  Spatula         1.954          0.760          1.922          0              90             0              69
   6  Spatula         0.288          0.952          2.548          0              0              0              54
   7  Spoon           -0.282         0.938          2.827          0              0              0              54
   8  Fork            1.802          0.747          0.583          0              90             0              63
   9  Egg             1.986          0.380          -0.369         0              270            0              75
  10  Knife           2.301          0.963          0.509          0              90             0              65
  11  Knife           -0.119         0.816          1.217          0              0              0              81
  12  SoapBottle      0.779          0.082          2.562          0              0              0              61
  13  Bowl            2.207          0.599          -0.188         0              270            0              75
  14  SaltShaker      -0.167         0.932          2.757          0              0              0              54
  15  SaltShaker      1.840          0.933          0.583          0              0              0              65
  16  PepperShaker    1.790          0.932          2.434          0              0              0              54
  17  Lettuce         2.227          0.999          2.260          0              0              0              54
  18  Mug             -0.042         0.785          1.217          0              270            0              81
  19  Mug             1.170          0.790          2.529          0              180            0              78
  20  Apple           -0.119         0.840          0.377          0              0              0              81
  21  Apple           0.735          0.852          2.695          0              0              0              78
  22  Apple           -0.395         1.085          1.961          0              90             0              79
  23  Egg             -0.362         1.078          2.121          0              90             0              79
  24  Lettuce         0.060          0.999          2.827          0              0              0              54
  25  Fork            -0.042         0.791          0.377          0              90             0              81
  26  SoapBottle      2.127          1.504          0.785          0              90             0              62
  27  Ladle           0.566          0.125          2.523          0              0              0              61
  28  Ladle           -0.103         0.791          2.197          0              270            0              53
  29  Bread           -0.199         0.823          0.813          0              0              0              81
  30  SaltShaker      -0.272         0.785          1.217          0              0              0              81
  31  Potato          2.137          0.901          -0.550         0              270            0              75
  32  Pan             2.140          0.935          1.504          0              180            0              49
  33  WineBottle      -0.078         0.082          2.129          0              0              0              48
  34  Spatula         -0.282         0.952          2.618          0              0              0              54
  35  Knife           1.815          0.772          1.922          0              90             0              69
  36  Tomato          -0.295         0.083          -0.801         0              90             0              76
  37  Apple           -0.261         1.085          2.068          0              90             0              79
  38  ButterKnife     1.920          0.937          1.866          0              0              0              54
  39  Pot             1.854          0.937          1.497          0              0              0              58
  40  PepperShaker    -0.042         0.785          0.713          0              0              0              81
  41  Cup             2.205          1.947          1.002          0              0              0              64
  42  DishSponge      -0.119         0.790          1.049          0              0              0              81
  43  Plate           -0.312         0.781          0.409          0              0              0              81
  44  Spoon           1.850          0.747          1.991          0              90             0              69
  45  Mug             2.064          0.989          2.462          0              225            0              80
  46  Bowl            2.112          1.318          -0.097         0              270            0              75
  47  Cabinet         2.041          2.113          2.618          0              0              0
  48  Cabinet         0.126          0.388          1.774          0              0              0
  49  StoveBurner     2.140          0.929          1.504          0              180            0
  50  Cabinet         1.760          0.388          2.346          0              0              0
  51  Cabinet         1.760          0.388          0.869          0              0              0
  52  Cabinet         2.041          1.810          0.283          0              0              0
  53  Drawer          -0.024         0.774          2.061          0              0              0
  54  CounterTop      1.065          0.973          2.666          0              0              0
  55  Cabinet         1.969          2.113          2.618          0              0              0
  56  StoveBurner     2.140          0.929          1.106          0              0              0
  57  Cabinet         2.041          2.113          1.809          0              0              0
  58  StoveBurner     1.866          0.929          1.504          0              180            0
  59  Cabinet         2.041          2.113          1.766          0              0              0
  60  Cabinet         1.514          0.388          2.360          0              0              0
  61  Cabinet         0.351          0.388          2.360          0              0              0
  62  Cabinet         2.041          1.810          0.872          0              0              0
  63  Drawer          2.167          0.774          0.582          0              0              0
  64  Cabinet         2.041          2.113          0.892          0              0              0
  65  CounterTop      2.060          0.973          0.583          0              0              0
  66  Sink            0.935          0.936          2.646          0              0              0
  67  Curtains        0.964          2.061          2.989          0              0              0
  68  StoveBurner     1.863          0.929          1.106          0              0              0
  69  Drawer          1.911          0.774          2.060          0              0              0
  70  StoveKnob       2.326          1.092          1.610          288.013        90             0
  71  StoveKnob       2.326          1.092          1.460          288.013        90             0
  72  StoveKnob       2.326          1.092          1.210          288.013        90             0
  73  StoveKnob       2.326          1.092          1.050          288.013        90             0
  74  Toaster         2.126          0.926          0.572          0              270            0
  75  Fridge          2.104          0.0            -0.279         0              270            0
  76  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  77  LightSwitch     0.354          1.518          -1.031         0              0              0
  78  SinkBasin       0.903          0.784          2.640          0              0              0
  79  Microwave       -0.310         0.926          2.077          0              90             0
  80  CoffeeMachine   2.084          0.927          2.667          0              225            0
  81  DiningTable     -0.153         -0.000         1.073          0              270            0
  82  Faucet          1.175          0.926          2.950          270            90             0
  83  Faucet          0.686          0.926          2.950          270            90             0
  84  Chair           -0.077         0.002          0.196          0              15.000         0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn around, go forward, turn right before reaching the microwave on the left, go forward to the white table. | STEP 2: Take the large knife in the mug on the table. | STEP 3: Turn right, go forward, turn left to face the microwave. | STEP 4: Cut the apple on the left inside the microwave into pieces. | STEP 5: Turn left, go forward, turn right to face the white table. | STEP 6: Put the knife to the right of the pepper mill on the table. | STEP 7: Turn right, go forward, turn left to face the microwave. | STEP 8: Take a piece of apple from the microwave. | STEP 9: Turn left, go forward to the wall, turn left, go forward to the fridge. | STEP 10: Chill the apple on the middle shelf of the fridge. Take the apple from the fridge. | STEP 11: Turn left, go forward, turn left to the white table, go forward to the table. | STEP 12: Put the apple in front of the pepper mill on the table. | END