Task: to slice up an apple and put in a pan to put on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          1.25           0              180            0
   1  SprayBottle     -1.828         0.116          -1.635         0              0              0              80
   2  SprayBottle     1.092          0.117          0.547          0              0              0              56
   3  Potato          1.375          1.409          1.851          0              270            0              92
   4  Ladle           -1.957         0.954          0.118          0              0              0              75
   5  DishSponge      -1.712         0.910          0.032          0              0              0              75
   6  DishSponge      0.976          0.117          0.372          0              0              0              56
   7  Fork            0.697          0.773          -1.533         0              0              0              77
   8  Fork            1.414          1.162          -0.659         0              0              0              79
   9  Spoon           -2.159         0.774          -1.500         0              270            0              68
  10  Pot             0.121          1.657          -1.839         0              0              0              63
  11  Pot             -1.809         0.912          -1.879         0              0              0              71
  12  Cup             -0.313         1.656          -1.764         0              0              0              55
  13  Cup             0.149          0.920          -1.657         0              270            0              52
  14  Plate           0.808          1.656          -1.839         0              0              0              62
  15  SoapBottle      -2.107         0.111          -1.535         0              0              0              76
  16  SoapBottle      1.150          0.115          -0.956         0              90             0              58
  17  Bowl            1.325          1.368          2.351          0              270            0              92
  18  Bowl            1.035          0.115          -1.244         0              0              0              58
  19  PepperShaker    -1.809         0.905          -1.448         0              0              0              71
  20  Bread           -2.323         0.988          0.377          0              0              0              75
  21  Mug             1.275          1.362          1.976          0              270            0              92
  22  Apple           0.251          0.954          -1.758         0              270            0              52
  23  Apple           1.325          1.402          1.726          0              270            0              92
  24  Tomato          1.323          1.760          1.713          0              270            0              92
  25  Glassbottle     1.223          1.656          -0.658         0              0              0              61
  26  Knife           -2.323         0.940          0.032          0              0              0              75
  27  Plate           1.342          1.656          -1.264         0              0              0              65
  28  Fork            0.903          0.773          0.323          0              90             0              50
  29  Ladle           0.589          0.161          -1.585         0              90             0              67
  30  Potato          1.381          0.256          1.108          0              0              0              90
  31  Lettuce         -0.627         0.980          -1.874         0              0              0              73
  32  Kettle          0.770          0.9            -1.836         0              0              0              73
  33  Pen             -2.187         0.777          -1.565         0              270            0              68
  34  SaltShaker      -2.041         0.106          -1.729         0              0              0              76
  35  Cup             -0.718         0.112          -1.535         0              0              0              60
  36  Egg             1.314          1.846          2.244          0              270            0              92
  37  Spatula         -1.962         0.925          -1.448         0              180            0              71
  38  Bowl            1.090          0.115          -0.662         0              0              0              57
  39  SprayBottle     -2.039         0.909          -1.448         0              0              0              71
  40  Pan             -1.431         0.949          -1.525         0              0              0              81
  41  SoapBottle      -2.201         0.910          0.204          0              90             0              75
  42  Pot             -1.081         0.949          -1.81          0              0              0              69
  43  ButterKnife     1.010          0.911          -0.990         0              0              0              73
  44  PepperShaker    1.454          1.157          0.370          0              180            0              79
  45  DishSponge      1.015          0.774          -1.013         0              0              0              51
  46  Bread           1.494          1.240          -1.688         0              0              0              79
  47  Apple           1.376          1.300          -0.021         0              270            0              95
  48  Spoon           0.217          0.920          -1.556         0              0              0              52
  49  Mug             1.070          0.957          -1.641         0              0              0              89
  50  Drawer          0.860          0.75           0.430          0              0              0
  51  Drawer          0.871          0.75           -1.134         0              0              0
  52  Sink            0.156          0.817          -1.801         0              270            0
  53  Cabinet         -0.868         2.005          -1.690         0              0              0
  54  Cabinet         -1.661         2.059          -1.684         0              90             0
  55  Cabinet         -0.817         2.059          -1.689         0              0              0
  56  Cabinet         0.860          0.402          0.665          0              0              0
  57  Cabinet         0.860          0.402          -0.552         0              0              0
  58  Cabinet         0.860          0.402          -1.365         0              0              0
  59  Cabinet         -0.244         0.402          -1.389         0              0              0
  60  Cabinet         -0.815         0.402          -1.389         0              0              0
  61  Cabinet         1.159          2.059          -0.334         0              0              0
  62  Cabinet         0.488          2.059          -1.689         0              0              0
  63  Cabinet         -0.193         2.059          -1.689         0              0              0
  64  Drawer          0.860          0.75           -0.699         0              0              0
  65  Cabinet         1.159          2.059          -1.019         0              0              0
  66  Cabinet         -1.611         2.005          -1.690         0              0              0
  67  Cabinet         0.832          0.401          -1.393         0              90             0
  68  Drawer          -2.105         0.75           -1.389         0              0              0
  69  StoveBurner     -1.081         0.941          -1.809         0              0              0
  70  Cabinet         -0.202         0.401          -1.391         0              90             0
  71  CounterTop      -1.973         0.945          -1.707         0              0              0
  72  Drawer          -0.375         0.75           -1.389         0              0              0
  73  CounterTop      1.164          0.946          -0.649         0              0              0
  74  StoveBurner     -1.081         0.941          -1.527         0              0              0
  75  CounterTop      -2.096         0.945          0.291          0              0              0
  76  Cabinet         -2.237         0.402          -1.389         0              0              0
  77  Drawer          0.584          0.75           -1.389         0              0              0
  78  Drawer          -1.795         0.75           -1.389         0              0              0
  79  CounterTop      1.5            1.197          -0.654         0              0              0
  80  Cabinet         -1.667         0.402          -1.389         0              0              0
  81  StoveBurner     -1.430         0.941          -1.525         0              0              0
  82  Drawer          -0.685         0.75           -1.389         0              0              0
  83  StoveBurner     -1.430         0.941          -1.809         0              0              0
  84  LightSwitch     -2.539         1.289          2.568          0              90             0
  85  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  86  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  87  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  88  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  89  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  90  GarbageCan      1.343          0.015          1.041          0              0              0
  91  HousePlant      1.440          1.153          0.593          0              0              0
  92  Fridge          1.417          0.0            2.101          0              0              0
  93  Window          -0.486         1.452          3.302          90             0              0
  94  SinkBasin       -0.063         0.765          -1.713         0              270            0
  95  Microwave       1.422          1.150          0.022          0              270            0
  96  Toaster         -2.066         0.900          -1.848         0              0              0
  97  Stool           -1.994         0.010          0.882          0              0              0
  98  Faucet          -0.096         1.041          -1.867         0              270            0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: walk forward towards the sink and turn left | STEP 2: pick up the knife from the counter | STEP 3: turn left and walk forward then turn right towards the microwave | STEP 4: open the microwave door | STEP 5: slice the apple that is in the microwave, then turn around and walk forward towards the wall then turn left | STEP 6: place knife on the stove | STEP 7: turn around and walk forward then turn right and walk towards the microwave | STEP 8: open the microwave and pull apple slices out of it | STEP 9: turn around and walk forward turn left and walk towards stove | STEP 10: place apple in the pan  | STEP 11: pick up the pan from the stove | STEP 12: turn left with the pan and walk towards the counter | STEP 13: place the pan on the counter | END