Task: Put 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           0.5            0.901          1.5            0              0              0
   1  Potato          2.223          1.361          -0.460         0              270            0              78
   2  Potato          1.840          0.978          0.361          0              0              0              68
   3  WineBottle      0.637          0.082          2.523          0              0              0              64
   4  DishSponge      0.034          0.937          2.451          0              0              0              57
   5  DishSponge      0.629          0.794          2.64           0              0              0              81
   6  ButterKnife     1.012          0.795          2.64           0              90             0              81
   7  ButterKnife     -0.272         0.791          1.217          0              0              0              84
   8  Spatula         1.276          0.810          2.584          0              90             0              81
   9  Spoon           1.802          0.747          0.514          0              90             0              66
  10  Egg             0.735          0.844          2.695          0              0              0              81
  11  Egg             -0.282         0.980          2.757          0              0              0              57
  12  Cup             -0.042         0.789          0.545          0              0              0              84
  13  Cup             2.168          1.321          -0.007         0              270            0              78
  14  Knife           1.954          0.772          1.922          0              90             0              72
  15  Knife           -0.053         0.963          2.688          0              90             0              57
  16  SoapBottle      -0.425         0.791          0.881          0              0              0              84
  17  SoapBottle      -0.167         0.938          2.757          0              0              0              57
  18  Tomato          0.288          0.983          2.478          0              0              0              57
  19  Tomato          0.033          0.837          1.217          0              0              0              84
  20  Bowl            1.925          0.078          1.915          0              0              0              53
  21  PepperShaker    0.495          0.076          2.523          0              0              0              64
  22  PepperShaker    -0.042         0.785          0.377          0              0              0              84
  23  Lettuce         -0.119         0.852          1.049          0              90             0              84
  24  Apple           1.170          0.845          2.529          0              0              0              81
  25  Apple           -0.328         1.085          1.907          0              90             0              82
  26  Egg             1.972          1.561          -0.369         0              270            0              78
  27  Lettuce         2.122          0.664          -0.097         0              270            0              78
  28  Fork            1.850          0.747          2.060          0              90             0              72
  29  SoapBottle      1.855          1.503          2.767          0              0              0              58
  30  Ladle           -0.033         0.791          2.197          0              270            0              56
  31  Ladle           -0.096         0.942          2.546          6.888          45             340.409        57
  32  Bread           2.127          1.567          -0.188         0              270            0              78
  33  SaltShaker      -0.272         0.785          1.386          0              0              0              84
  34  Potato          -0.395         1.075          2.014          0              0              0              82
  35  Pan             2.140          0.935          1.504          0              180            0              52
  36  WineBottle      2.301          0.939          0.361          0              0              0              68
  37  Spatula         1.065          0.810          2.695          0              270            0              81
  38  Knife           1.815          0.772          2.197          0              270            0              72
  39  Tomato          0.033          0.837          0.713          0              0              0              84
  40  Apple           -0.349         0.840          1.217          0              0              0              84
  41  ButterKnife     -0.349         0.791          0.881          0              0              0              84
  42  Pot             1.863          0.935          1.106          0              0              0              71
  43  PepperShaker    -0.042         0.785          0.881          0              0              0              84
  44  Cup             2.250          0.600          -0.550         0              270            0              78
  45  DishSponge      2.257          0.937          2.898          0              0              0              57
  46  Plate           -0.312         0.781          0.409          0              0              0              84
  47  Spoon           1.989          0.746          2.197          0              90             0              72
  48  Mug             2.064          0.989          2.462          0              225            0              83
  49  Bowl            2.000          1.320          -0.550         0              0              0              78
  50  Cabinet         2.041          2.113          2.618          0              0              0
  51  Cabinet         0.126          0.388          1.774          0              0              0
  52  StoveBurner     2.140          0.929          1.504          0              180            0
  53  Cabinet         1.760          0.388          2.346          0              0              0
  54  Cabinet         1.760          0.388          0.869          0              0              0
  55  Cabinet         2.041          1.810          0.283          0              0              0
  56  Drawer          -0.024         0.774          2.061          0              0              0
  57  CounterTop      1.065          0.973          2.666          0              0              0
  58  Cabinet         1.969          2.113          2.618          0              0              0
  59  StoveBurner     2.140          0.929          1.106          0              0              0
  60  Cabinet         2.041          2.113          1.809          0              0              0
  61  StoveBurner     1.866          0.929          1.504          0              180            0
  62  Cabinet         2.041          2.113          1.766          0              0              0
  63  Cabinet         1.514          0.388          2.360          0              0              0
  64  Cabinet         0.351          0.388          2.360          0              0              0
  65  Cabinet         2.041          1.810          0.872          0              0              0
  66  Drawer          2.167          0.774          0.582          0              0              0
  67  Cabinet         2.041          2.113          0.892          0              0              0
  68  CounterTop      2.060          0.973          0.583          0              0              0
  69  Sink            0.935          0.936          2.646          0              0              0
  70  Curtains        0.964          2.061          2.989          0              0              0
  71  StoveBurner     1.863          0.929          1.106          0              0              0
  72  Drawer          1.911          0.774          2.060          0              0              0
  73  StoveKnob       2.326          1.092          1.610          288.013        90             0
  74  StoveKnob       2.326          1.092          1.460          288.013        90             0
  75  StoveKnob       2.326          1.092          1.210          288.013        90             0
  76  StoveKnob       2.326          1.092          1.050          288.013        90             0
  77  Toaster         2.126          0.926          0.572          0              270            0
  78  Fridge          2.104          0.0            -0.279         0              270            0
  79  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  80  LightSwitch     0.354          1.518          -1.031         0              0              0
  81  SinkBasin       0.903          0.784          2.640          0              0              0
  82  Microwave       -0.310         0.926          2.077          0              90             0
  83  CoffeeMachine   2.084          0.927          2.667          0              225            0
  84  DiningTable     -0.153         -0.000         1.073          0              270            0
  85  Faucet          1.175          0.926          2.950          270            90             0
  86  Faucet          0.686          0.926          2.950          270            90             0
  87  Chair           -0.077         0.002          0.196          0              15.000         0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn around, go forward, turn to the right to face the white table with the tomato on it.  | STEP 2: Pick up the butter knife that is on the table behind the tomato.  | STEP 3: Use the knife to cut the apple that is on the table behind the lettuce.  | STEP 4: Turn around, go forward to the cupboard that is beneath the toaster.  | STEP 5: Open the cupboard, put the knife inside, close the cupboard.  | STEP 6: Turn to the left, go forward slightly, turn to the left, go to the white table with the apple on it.  | STEP 7: Pick up a piece of the apple that was cut from the table.  | STEP 8: Turn to the left, go to the wall, hang a left and go to the fridge.  | STEP 9: Open the fridge, put the apple inside, close the fridge, then remove the apple once it is cold.  | STEP 10: Turn to the left, go forward, go right to the table where the tomato is.  | STEP 11: Put the apple on the table in front of the rightmost pepper mill. | END