Task: Put a slice of apple on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          4.75           0              0              0
   1  Pan             1.317          0.988          4.294          0              0              0              52
   2  Pan             1.562          0.988          3.848          0              0              0              51
   3  DishSponge      1.907          0.080          6.469          0              0              0              81
   4  Kettle          1.559          0.988          4.294          0              0              0              55
   5  Spoon           -0.221         0.761          6.941          0              90             0              93
   6  Spoon           1.442          0.891          2.034          0              90             0              80
   7  Spatula         0.124          0.786          0.507          0              0              0              54
   8  Spatula         0.104          0.775          6.653          0              45             0              93
   9  Fork            -0.034         0.760          6.478          0              0              0              93
  10  Cup             2.094          1.511          5.251          0              270            0              79
  11  Cup             0.696          0.988          0.120          0              0              0              57
  12  Plate           1.490          0.141          2.159          0              0              0              46
  13  Knife           0.014          0.789          6.217          0              135            0              93
  14  Tomato          1.403          1.042          0.213          0              0              0              57
  15  SoapBottle      0.212          0.760          6.196          0              135            0              93
  16  SaltShaker      -0.284         0.755          6.941          0              0              0              93
  17  Mug             1.225          0.987          1.577          0              0              0              57
  18  Mug             0.923          0.987          0.120          0              0              0              57
  19  Apple           0.147          0.834          6.349          0              135            0              93
  20  Apple           1.135          1.067          0.895          0              0              0              57
  21  Apple           0.148          0.834          6.609          0              225            0              93
  22  Bowl            2.094          1.514          5.876          0              270            0              79
  23  Bread           1.099          1.048          0.434          0              0              0              57
  24  Egg             0.064          1.147          0.278          0              0              0              73
  25  Knife           1.387          0.920          2.525          0              90             0              80
  26  Fork            0.257          0.760          6.719          0              135            0              93
  27  Apple           0.305          0.834          6.354          0              270            0              93
  28  Kettle          1.490          0.141          3.143          0              0              0              68
  29  Plate           -0.552         0.144          0.277          0              0              0              65
  30  SaltShaker      1.135          0.987          4.808          0              0              0              58
  31  Lettuce         -0.034         0.848          6.787          0              0              0              93
  32  SoapBottle      -0.399         0.760          6.895          0              135            0              93
  33  Spatula         -0.025         0.775          6.347          0              315            0              93
  34  PaperTowelRoll  0.036          0.864          6.940          0              225            0              93
  35  Pot             0.734          0.981          0.38           0              0              0              57
  36  Potato          1.276          0.925          2.137          0              270            0              80
  37  ButterKnife     0.056          0.771          0.451          0              0              0              54
  38  PepperShaker    -0.195         1.574          0.251          0              0              0              70
  39  Pan             1.32           0.988          3.848          0              0              0              56
  40  Tomato          1.135          1.042          4.670          0              0              0              58
  41  DishSponge      1.442          0.890          2.627          0              90             0              80
  42  Cup             -0.221         0.756          6.787          0              0              0              93
  43  Spoon           1.225          0.993          0.213          0              0              0              57
  44  Mug             -0.291         0.755          6.612          0              225            0              93
  45  Cabinet         1.307          2.455          4.360          0              0              0
  46  Cabinet         1.054          0.422          1.710          0              0              0
  47  Drawer          1.280          0.808          4.718          0              0              0
  48  Cabinet         1.307          2.455          3.607          0              0              0
  49  Drawer          0.736          0.802          0.521          0              0              0
  50  Drawer          1.276          0.802          3.291          0              0              0
  51  StoveBurner     1.562          0.982          3.848          0              0              0
  52  StoveBurner     1.317          0.982          4.294          0              0              0
  53  Drawer          -0.482         0.802          0.521          0              0              0
  54  Drawer          0.124          0.802          0.521          0              0              0
  55  StoveBurner     1.559          0.982          4.294          0              0              0
  56  StoveBurner     1.320          0.982          3.848          0              0              0
  57  CounterTop      1.391          1.028          0.897          0              0              0
  58  CounterTop      1.391          1.028          4.716          0              0              0
  59  Cabinet         1.054          0.422          4.548          0              0              0
  60  Cabinet         1.317          2.134          0.517          0              0              0
  61  Cabinet         1.317          2.134          4.889          0              0              0
  62  Cabinet         1.317          2.134          3.095          0              0              0
  63  Cabinet         0.443          0.422          0.743          0              0              0
  64  Cabinet         1.270          2.134          0.434          0              0              0
  65  Cabinet         -0.775         0.422          0.743          0              0              0
  66  Cabinet         -0.168         0.422          0.743          0              0              0
  67  Cabinet         1.317          2.134          1.534          0              0              0
  68  Cabinet         1.054          0.422          2.990          0              0              0
  69  Cabinet         1.054          0.422          2.944          0              0              0
  70  Cabinet         -0.263         2.134          0.434          0              0              0
  71  Cabinet         0.252          2.134          0.434          0              0              0
  72  Sink            1.391          1.006          2.326          0              0              0
  73  Microwave       0.108          0.981          0.262          0              0              0
  74  HousePlant      -0.165         0.826          6.444          0              0              0
  75  CoffeeMachine   1.551          0.982          0.953          0              270            0
  76  Toaster         1.473          0.981          4.715          0              270            0
  77  Window          -2.065         1.916          3.626          90             90             0
  78  Window          1.763          2.007          2.299          90             270            0
  79  Fridge          2.035          0.0            5.625          0              0              0
  80  SinkBasin       1.387          0.880          2.338          0              90             0
  81  GarbageCan      2.001          -0.044         6.503          0              0              0
  82  StoveKnob       1.140          0.934          3.987          45             270            0
  83  StoveKnob       1.140          0.934          4.309          45             270            0
  84  StoveKnob       1.140          0.934          4.140          45             270            0
  85  StoveKnob       1.140          0.934          3.824          45             270            0
  86  Vase            -0.226         0.834          6.993          0              0              0
  87  Vase            2.098          0.043          7.070          0              257.232        0
  88  Vase            -0.594         0.835          6.130          0              225            0
  89  LightSwitch     -2.0           1.549          6.045          0              90             0
  90  Safe            2.046          1.072          7.054          0              257.232        0
  91  Faucet          1.534          1.025          2.371          0              294.391        0
  92  Blinds          1.738          2.563          2.312          0              90             0
  93  DiningTable     -0.156         0.000          6.474          0              0              0
  94  Chair           0.291          0.002          6.142          0              310.162        0
  95  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn right. Walk straight. Turn Left to the round table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn right, walk straight, turn left, walk straight to the round table. | STEP 4: Cut the fruit into slices. | STEP 5: Walk to the table. | STEP 6: Put the knife on the table. | STEP 7: Take a step back to the table. | STEP 8: Pick up a slice on the table. | STEP 9: Turn right, turn right, turn right, walk straight to the cabinet. | STEP 10: Open the cabinet, put the apple on the top shelf. Open the cabinet, take out the apple. | STEP 11: Turn left, turn left to the round table. | STEP 12: Put the slice on the table. | END