Task: slice apple, put knife in pan on stove, place chilled apple slice in pan on table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          5.5            0              180            0
   1  Pan             1.562          0.988          3.848          0              0              0              52
   2  Pan             0.885          0.141          0.497          0              90             0              64
   3  Pan             1.32           0.988          3.848          0              0              0              57
   4  Potato          -0.181         0.794          6.721          0              225            0              94
   5  Potato          1.442          0.925          2.474          0              90             0              81
   6  DishSponge      -0.221         0.759          6.941          0              0              0              94
   7  DishSponge      -0.399         0.759          6.895          0              135            0              94
   8  Spoon           0.735          0.773          0.563          0              0              0              50
   9  Spoon           1.404          0.772          3.291          0              0              0              51
  10  Spatula         1.459          0.786          3.154          0              90             0              51
  11  Fork            1.292          0.772          3.154          0              0              0              51
  12  Fork            1.442          0.891          1.983          0              0              0              81
  13  Egg             0.064          1.147          0.278          0              0              0              74
  14  Plate           -0.413         0.144          0.506          0              0              0              66
  15  Knife           -0.345         0.802          0.563          0              270            0              54
  16  Tomato          -0.312         0.809          6.479          0              270            0              94
  17  Tomato          0.083          0.809          6.456          0              225            0              94
  18  SoapBottle      1.135          0.992          2.950          0              0              0              58
  19  SoapBottle      0.014          0.760          6.217          0              135            0              94
  20  SaltShaker      0.544          0.987          0.670          0              0              0              58
  21  SaltShaker      0.107          1.574          0.295          0              0              0              71
  22  Lettuce         0.015          0.848          6.742          0              225            0              94
  23  Bowl            2.094          1.514          6.001          0              270            0              80
  24  Bread           1.099          1.048          0.434          0              0              0              58
  25  Egg             -0.034         0.810          6.014          0              0              0              94
  26  Knife           0.124          0.801          0.563          0              270            0              55
  27  Fork            0.305          0.760          6.541          0              270            0              94
  28  Apple           2.137          1.590          5.751          0              270            0              80
  29  Kettle          1.593          0.981          3.25           0              255.000        0              58
  30  Plate           1.238          0.141          1.864          0              0              0              47
  31  SaltShaker      0.956          0.138          0.260          0              0              0              64
  32  Lettuce         -0.575         0.848          6.719          0              135            0              94
  33  SoapBottle      0.771          0.992          0.670          0              0              0              58
  34  Spatula         1.442          0.905          2.188          0              0              0              81
  35  PaperTowelRoll  0.620          1.096          0.212          0              0              0              58
  36  Pot             1.317          0.988          4.294          0              0              0              53
  37  Potato          2.094          1.550          5.501          0              270            0              80
  38  ButterKnife     0.696          0.992          0.303          0              0              0              58
  39  PepperShaker    1.543          1.572          1.349          0              0              0              68
  40  Pan             1.559          0.988          4.294          0              0              0              56
  41  Tomato          1.671          1.042          3.417          0              0              0              58
  42  DishSponge      1.495          2.206          4.175          0              0              0              49
  43  Cup             -0.135         0.756          6.237          0              225            0              94
  44  Spoon           -0.459         0.993          0.212          0              0              0              58
  45  Mug             1.456          1.572          1.166          0              0              0              58
  46  Cabinet         1.307          2.455          4.360          0              0              0
  47  Cabinet         1.054          0.422          1.710          0              0              0
  48  Drawer          1.280          0.808          4.718          0              0              0
  49  Cabinet         1.307          2.455          3.607          0              0              0
  50  Drawer          0.736          0.802          0.521          0              0              0
  51  Drawer          1.276          0.802          3.291          0              0              0
  52  StoveBurner     1.562          0.982          3.848          0              0              0
  53  StoveBurner     1.317          0.982          4.294          0              0              0
  54  Drawer          -0.482         0.802          0.521          0              0              0
  55  Drawer          0.124          0.802          0.521          0              0              0
  56  StoveBurner     1.559          0.982          4.294          0              0              0
  57  StoveBurner     1.320          0.982          3.848          0              0              0
  58  CounterTop      1.391          1.028          0.897          0              0              0
  59  CounterTop      1.391          1.028          4.716          0              0              0
  60  Cabinet         1.054          0.422          4.548          0              0              0
  61  Cabinet         1.317          2.134          0.517          0              0              0
  62  Cabinet         1.317          2.134          4.889          0              0              0
  63  Cabinet         1.317          2.134          3.095          0              0              0
  64  Cabinet         0.443          0.422          0.743          0              0              0
  65  Cabinet         1.270          2.134          0.434          0              0              0
  66  Cabinet         -0.775         0.422          0.743          0              0              0
  67  Cabinet         -0.168         0.422          0.743          0              0              0
  68  Cabinet         1.317          2.134          1.534          0              0              0
  69  Cabinet         1.054          0.422          2.990          0              0              0
  70  Cabinet         1.054          0.422          2.944          0              0              0
  71  Cabinet         -0.263         2.134          0.434          0              0              0
  72  Cabinet         0.252          2.134          0.434          0              0              0
  73  Sink            1.391          1.006          2.326          0              0              0
  74  Microwave       0.108          0.981          0.262          0              0              0
  75  HousePlant      -0.165         0.826          6.444          0              0              0
  76  CoffeeMachine   1.551          0.982          0.953          0              270            0
  77  Toaster         1.473          0.981          4.715          0              270            0
  78  Window          -2.065         1.916          3.626          90             90             0
  79  Window          1.763          2.007          2.299          90             270            0
  80  Fridge          2.035          0.0            5.625          0              0              0
  81  SinkBasin       1.387          0.880          2.338          0              90             0
  82  GarbageCan      2.001          -0.044         6.503          0              0              0
  83  StoveKnob       1.140          0.934          3.987          45             270            0
  84  StoveKnob       1.140          0.934          4.309          45             270            0
  85  StoveKnob       1.140          0.934          4.140          45             270            0
  86  StoveKnob       1.140          0.934          3.824          45             270            0
  87  Vase            -0.226         0.834          6.993          0              0              0
  88  Vase            2.098          0.043          7.070          0              257.232        0
  89  Vase            -0.594         0.835          6.130          0              225            0
  90  LightSwitch     -2.0           1.549          6.045          0              90             0
  91  Safe            2.046          1.072          7.054          0              257.232        0
  92  Faucet          1.534          1.025          2.371          0              294.391        0
  93  Blinds          1.738          2.563          2.312          0              90             0
  94  DiningTable     -0.156         0.000          6.474          0              0              0
  95  Chair           0.291          0.002          6.142          0              310.162        0
  96  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: go to counter to the left of microwave | STEP 2: pick up knife in front of paper towels from counter | STEP 3: turn around, go to white refrigerator to the right | STEP 4: open refrigerator, slice yellow apple on top shelf of refrigerator | STEP 5: go to stove to the right | STEP 6: place knife in pan on back right burner of stove | STEP 7: go to refrigerator to the left | STEP 8: pick up apple slice from top shelf of refrigerator, close refrigerator | STEP 9: go to stove to the right | STEP 10: place apple slice in pan on front right burner of stove | STEP 11: pick up pan with apple slice from stove | STEP 12: turn left, go to the right of chair by round dining table | STEP 13: place pan with apple slice in front of dispenser on table  | END