Task: Cut an apple, cool a piece and bring it to the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          7.0            0              180            0
   1  Pan             1.32           0.988          3.848          0              0              0              54
   2  Potato          1.135          1.027          4.762          0              0              0              56
   3  Potato          2.094          1.550          5.251          0              270            0              77
   4  ButterKnife     -0.384         0.992          0.670          0              0              0              55
   5  ButterKnife     -0.487         0.760          6.807          0              135            0              91
   6  Kettle          1.562          0.988          3.848          0              0              0              49
   7  Kettle          -0.575         0.761          6.719          0              135            0              91
   8  Spoon           1.292          0.772          3.291          0              0              0              48
   9  Fork            -0.422         0.760          6.653          0              135            0              91
  10  Cup             0.107          1.575          0.163          0              0              0              68
  11  Plate           2.051          1.516          5.501          0              270            0              77
  12  Tomato          1.497          0.940          2.188          0              90             0              78
  13  Tomato          -0.221         0.809          6.632          0              0              0              91
  14  SoapBottle      -0.467         0.760          6.416          0              0              0              91
  15  SoapBottle      0.193          0.144          0.201          0              0              0              64
  16  PepperShaker    0.150          0.755          6.666          0              270            0              91
  17  Lettuce         0.102          0.848          6.305          0              135            0              91
  18  Lettuce         -0.687         1.081          0.395          0              0              0              55
  19  Mug             1.384          1.043          0.847          0              270            0              55
  20  Bowl            1.490          0.139          3.365          0              0              0              66
  21  Bread           1.099          1.048          0.434          0              0              0              55
  22  Egg             -0.762         1.042          0.212          0              0              0              55
  23  Knife           -0.003         0.789          6.541          0              0              0              91
  24  Fork            0.668          0.772          0.395          0              90             0              47
  25  Apple           1.225          1.067          3.511          0              0              0              55
  26  Kettle          1.317          0.988          4.294          0              0              0              50
  27  Plate           -0.552         0.144          0.506          0              0              0              63
  28  SaltShaker      0.534          0.138          0.418          0              0              0              61
  29  Lettuce         -0.289         0.848          6.786          0              135            0              91
  30  SoapBottle      1.406          0.140          2.012          0              0              0              67
  31  Spatula         -0.308         1.007          0.303          0              90             0              55
  32  PaperTowelRoll  -0.535         1.096          0.578          0              0              0              55
  33  Pot             0.734          0.981          0.38           0              0              0              55
  34  Potato          -0.034         0.794          6.632          0              0              0              91
  35  ButterKnife     0.620          0.992          0.578          0              0              0              55
  36  PepperShaker    1.140          1.574          0.251          0              0              0              69
  37  Pan             1.559          0.988          4.294          0              0              0              53
  38  Tomato          1.907          0.130          6.469          0              0              0              79
  39  DishSponge      1.403          0.992          0.668          0              0              0              55
  40  Cup             1.442          0.886          2.034          0              90             0              78
  41  Spoon           1.225          0.993          3.417          0              0              0              55
  42  Mug             -0.621         0.755          6.416          0              90             0              91
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Go forward, turn left after the stove, go to the counter | STEP 2: Pick up the apple on the counter | STEP 3: Turn right, go to the table, turn left | STEP 4: Put the apple on the table | STEP 5: Pick up the knife on the table | STEP 6: Cut the apple on the table  | STEP 7: Put the knife on the table | STEP 8: Pick up an apple piece from the table  | STEP 9: Turn around and go to the fridge | STEP 10: Put the apple piece in the fridge, wait, pick up the apple piece from the fridge | STEP 11: Turn left, go forward, turn left to the table | STEP 12: Put the apple piece on the table  | END