Task: Cut an apple into three sections, place a section into a bowl.

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          -0.75          0              0              0
   1  ButterKnife     -0.939         0.820          -1.183         0              90             0              99
   2  Spoon           -0.839         0.822          -1.257         0              90             0              99
   3  Spoon           -0.157         0.766          -0.707         0              90             0              97
   4  Fork            1.955          0.912          1.044          0              0              0              75
   5  Fork            -0.887         0.821          -1.400         0              0              0              99
   6  Cup             0.581          1.652          -0.811         0              180            0              79
   7  Cup             1.908          1.652          -0.696         0              180            0              77
   8  Knife           -0.990         0.853          -1.400         0              90             0              99
   9  SoapBottle      2.488          0.917          1.553          0              0              0              75
  10  SoapBottle      2.258          0.120          1.231          0              0              0              76
  11  SaltShaker      2.235          0.111          -0.538         0              180            0              81
  12  PepperShaker    -1.056         0.817          -1.308         0              90             0              99
  13  Mug             -0.694         0.815          -1.308         0              90             0              99
  14  Apple           -2.019         0.492          1.417          0              270            0              93
  15  Apple           -0.103         0.980          1.129          0              0              0              51
  16  Apple           2.715          1.632          -0.578         0              0              0              95
  17  SoapBottle      1.213          0.120          1.156          0              0              0              47
  18  Plate           2.488          0.914          1.214          0              0              0              75
  19  Fork            -0.103         0.912          1.383          0              0              0              51
  20  Pot             0.281          0.964          1.082          0              0              0              46
  21  Bread           1.155          0.969          1.468          0              0              0              75
  22  Egg             2.838          0.764          -0.442         0              0              0              95
  23  Kettle          0.281          0.964          1.347          0              0              0              55
  24  Tomato          -0.694         0.852          -1.155         0              90             0              99
  25  Cup             2.804          1.652          1.470          0              0              0              41
  26  Spatula         0.123          0.780          -0.707         0              90             0              97
  27  Apple           2.900          1.632          -0.578         0              0              0              95
  28  Pan             1.955          0.911          1.299          0              0              0              75
  29  Lettuce         1.688          0.992          1.468          0              0              0              75
  30  SaltShaker      -0.682         0.817          -1.400         0              0              0              99
  31  Knife           -1.056         0.853          -1.206         0              270            0              99
  32  Potato          -0.055         0.946          1.299          0              0              0              51
  33  PepperShaker    -0.246         0.908          1.214          0              0              0              51
  34  ButterKnife     2.754          0.911          1.044          0              0              0              75
  35  Bowl            1.880          1.653          1.507          0              0              0              52
  36  DishSponge      1.488          0.114          1.231          0              0              0              69
  37  Spoon           1.688          0.912          1.044          0              0              0              75
  38  Mug             1.428          0.965          -0.577         0              0              0              40
  39  Sink            0.050          0.902          -0.648         0              0              0
  40  CounterTop      1.358          0.947          -0.600         0              0              0
  41  Cabinet         2.986          2.009          1.304          0              0              0
  42  Cabinet         1.022          2.009          -0.607         0              180            0
  43  StoveBurner     0.678          0.923          1.082          0              0              0
  44  Cabinet         2.371          0.402          0.995          0              0              0
  45  Drawer          -0.125         0.792          0.995          0              0              0
  46  StoveBurner     0.281          0.923          1.082          0              0              0
  47  Cabinet         1.025          0.402          0.995          0              0              0
  48  Cabinet         1.023          0.402          -0.296         0              180            0
  49  Cabinet         0.974          2.259          1.304          0              0              0
  50  Cabinet         0.979          2.009          -0.607         0              180            0
  51  CounterTop      -0.158         0.947          1.299          0              0              0
  52  Cabinet         1.725          2.009          1.304          0              0              0
  53  Drawer          2.205          0.792          -0.294         0              180            0
  54  Drawer          1.869          0.792          -0.294         0              180            0
  55  StoveBurner     0.281          0.923          1.347          0              0              0
  56  Drawer          2.512          0.792          0.995          0              0              0
  57  Cabinet         1.673          0.402          -0.296         0              180            0
  58  Drawer          1.524          0.792          0.995          0              0              0
  59  Drawer          1.174          0.792          -0.294         0              180            0
  60  Cabinet         1.720          0.402          0.995          0              0              0
  61  Cabinet         2.348          2.009          -0.607         0              180            0
  62  Cabinet         1.676          2.009          -0.607         0              180            0
  63  Cabinet         1.673          2.009          1.304          0              0              0
  64  Cabinet         2.326          2.009          1.304          0              0              0
  65  Cabinet         2.370          2.009          1.304          0              0              0
  66  Cabinet         0.021          2.009          1.304          0              0              0
  67  Cabinet         1.025          2.009          1.304          0              0              0
  68  Cabinet         -0.274         0.402          0.995          0              0              0
  69  Cabinet         1.675          0.402          0.995          0              0              0
  70  Drawer          1.524          0.792          -0.294         0              180            0
  71  Drawer          2.187          0.792          0.995          0              0              0
  72  Cabinet         2.977          0.402          0.995          0              0              0
  73  Drawer          1.862          0.792          0.995          0              0              0
  74  Cabinet         0.072          2.259          1.304          0              0              0
  75  CounterTop      1.917          0.947          1.299          0              0              0
  76  Cabinet         2.328          0.402          0.995          0              0              0
  77  Cabinet         1.723          2.009          -0.607         0              180            0
  78  StoveBurner     0.677          0.923          1.345          0              0              0
  79  Cabinet         0.355          2.009          -0.607         0              180            0
  80  Cabinet         0.332          2.009          -0.607         0              180            0
  81  Cabinet         2.349          0.402          -0.296         0              180            0
  82  Cabinet         -0.284         2.009          -0.607         0              180            0
  83  Faucet          0.061          0.906          -0.903         0              0              0
  84  Drawer          2.837          0.792          0.995          0              0              0
  85  Drawer          1.175          0.792          0.995          0              0              0
  86  Cabinet         1.723          0.402          -0.296         0              180            0
  87  StoveKnob       0.588          1.093          1.557          287.970        0              0
  88  StoveKnob       0.188          1.093          1.557          287.970        0              0
  89  StoveKnob       0.749          1.093          1.557          287.970        0              0
  90  StoveKnob       0.338          1.093          1.557          287.970        0              0
  91  Toaster         1.934          0.900          -0.717         0              0              0
  92  LightSwitch     -1.662         1.427          1.649          0              180            0
  93  GarbageCan      -1.965         -0.029         1.358          0              270            0
  94  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  95  Fridge          3.043          0.0            -0.709         0              0              0
  96  Window          -2.183         1.501          -0.014         90             270            0
  97  SinkBasin       0.043          0.755          -0.651         0              0              0
  98  Microwave       0.531          1.675          1.437          0              180            0
  99  DiningTable     -0.836         8.404          -1.258         0              0              0
 100  Chair           -1.611         0.002          -1.185         0              45             0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections. | STEP 5: Turn right, move to the counter in left of a blue plate. | STEP 6: Open the upper cabinet, place the knife in to the blue container. | STEP 7: Turn left, move to the counter left of the stove. | STEP 8: Pick up one part of the apple. | STEP 9: Turn right, move to the counter in front of the blue container. | STEP 10: Place the apple part into the blue container. | STEP 11: Pick up the blue container from the upper cabinet. | STEP 12: Turn left, move to in front of the microwave. | STEP 13: Place the blue container into the microwave. | END