Task: To cut an apple in half, as well as put half of it on the stove.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.900          -2.5           0              90             0
   1  Glassbottle     -2.096         0.924          -1.884         0              0              0              73
   2  Glassbottle     -0.815         0.916          -3.697         0              0              0              48
   3  Pencil          -2.438         0.923          -0.963         0              0              0              73
   4  Pencil          -0.457         0.916          -3.485         0              0              0              48
   5  DishSponge      -0.420         0.746          -3.238         0              0              0              59
   6  WineBottle      -0.385         0.916          -3.697         0              0              0              48
   7  WineBottle      -2.666         0.924          -2.115         0              0              0              73
   8  Spatula         -0.457         0.930          -3.839         0              0              0              48
   9  Spatula         -2.438         0.938          -1.654         0              270            0              73
  10  Fork            -2.324         0.924          -2.115         0              270            0              73
  11  Fork            -2.210         0.924          -2.115         0              270            0              73
  12  Spoon           -0.302         0.798          -2.155         0              270            0              66
  13  Knife           -2.666         0.946          -2.345         0              0              0              73
  14  SaltShaker      -0.302         1.527          -3.699         0              45             0              56
  15  SaltShaker      -0.186         1.524          -2.598         0              0              0              60
  16  PepperShaker    -0.671         0.912          -3.555         0              0              0              48
  17  PepperShaker    -0.747         0.078          -3.506         0              0              0              52
  18  Apple           -2.438         0.996          -2.345         0              0              0              73
  19  Lettuce         -0.392         1.191          -0.979         0              270            0              65
  20  Glassbottle     -0.350         0.797          -1.934         0              270            0              66
  21  Egg             -0.441         1.423          -0.455         0              270            0              65
  22  Pen             -2.780         0.926          -1.884         0              0              0              73
  23  Fork            -2.210         0.924          -1.423         0              0              0              73
  24  SoapBottle      -2.438         0.922          -2.115         0              0              0              73
  25  Pencil          -1.943         0.027          -3.727         0              0              0              64
  26  WineBottle      -2.006         0.027          -3.727         0              0              0              64
  27  Spatula         -2.552         0.938          -1.423         0              180            0              73
  28  Bread           -0.295         1.443          -0.560         0              270            0              65
  29  Tomato          -0.268         1.754          -0.979         0              270            0              65
  30  Pan             -1.515         0.935          -3.752         0              90             0              44
  31  Cup             -0.295         1.389          -0.979         0              270            0              65
  32  Pot             -1.129         0.935          -3.498         0              0              0              46
  33  SaltShaker      -0.420         0.743          -3.327         0              0              0              59
  34  Potato          -0.348         1.722          -0.769         0              270            0              65
  35  PepperShaker    -0.538         0.077          -3.330         0              0              0              54
  36  ButterKnife     -0.371         0.903          -3.443         0              0              0              48
  37  DishSponge      -0.508         0.915          -3.771         0              0              0              48
  38  Spoon           -2.552         0.924          -1.193         0              0              0              73
  39  Plate           -0.382         0.083          -3.267         0              0              0              54
  40  Knife           -2.666         0.946          -1.654         0              270            0              73
  41  Mug             -0.600         0.910          -3.555         0              180            0              48
  42  Bowl            -0.295         1.097          -0.665         0              270            0              65
  43  Cabinet         -0.582         0.388          -1.804         0              0              0
  44  StoveBurner     -1.515         0.928          -3.752         0              90             0
  45  StoveBurner     -1.515         0.928          -3.497         0              0              0
  46  StoveBurner     -1.129         0.928          -3.498         0              0              0
  47  Drawer          -0.749         0.779          -3.551         0              0              0
  48  CounterTop      -0.303         0.951          -2.793         0              0              0
  49  Cabinet         -0.883         2.140          -3.687         0              0              0
  50  Cabinet         -0.312         2.140          -1.543         0              0              0
  51  Sink            -0.349         0.907          -2.014         0              0              0
  52  Cabinet         -0.877         0.388          -3.422         0              0              0
  53  Cabinet         -0.582         0.388          -2.197         0              0              0
  54  Cabinet         -0.584         0.388          -3.396         0              0              0
  55  Cabinet         -0.312         2.140          -2.481         0              0              0
  56  Cabinet         -0.330         1.921          -3.390         0              0              0
  57  Cabinet         -1.764         2.140          -3.687         0              0              0
  58  StoveBurner     -1.129         0.928          -3.752         0              90             0
  59  Drawer          -0.454         0.779          -3.268         0              0              0
  60  Cabinet         -0.302         1.916          -2.501         0              0              0
  61  Microwave       -1.317         1.517          -3.801         0              1.440          0
  62  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  63  LightSwitch     -4.323         1.319          0.0            0              180            0
  64  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  65  Fridge          -0.330         0.0            -0.769         0              270            0
  66  SinkBasin       -0.350         0.786          -2.018         0              270            0
  67  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  68  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  69  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  70  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  71  Toaster         -0.181         0.903          -2.764         0              270            0
  72  Window          -2.503         1.782          -4.185         90             180            0
  73  DiningTable     -2.432         0.000          -1.694         0              270            0
  74  Shelf           -2.432         0.150          -1.694         0              270            0
  75  Blinds          -2.536         2.699          -3.959         0              0              0
  76  Faucet          -0.079         0.904          -2.034         270            180            0
  77  Chair           -3.264         0.002          -2.094         0              53.280         0
  78  Chair           -3.240         0.002          -1.253         0              117.257        0
  79  Shelf           -2.432         0.523          -1.694         0              270            0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn to the right and walk to the wall and then turn left and walk across the room. | STEP 2: pick up the knife on the edge of the counter. | STEP 3: Turn around and walk halfway across the room and then turn right to face the kitchen table. | STEP 4: Cut the apple in half. | STEP 5: Turn right and take a step, then turn left and walk across the room then turn right to face the cabinet. | STEP 6: Open the cabnet and place the knife on the shelf. | STEP 7: Turn to the right, then walk across the room, then turn right and walk halfway across the room, and then turn right to face the table. | STEP 8: Pick up half of the apple. | STEP 9: Turn right and take a step, then turn left and walk across the room then turn right to face the cabinet. | STEP 10: Open the cabinet, place the apple inside, then close the cabinet, then open the cabinet and remove the apple half. | STEP 11: Turn right, walk across the room, then turn right and walk halfway across the room, then turn right and face the table. | STEP 12: Turn to the right and walk across the room to face the stove and place the apple on a pan. | END