Task: Place the apple slice on top of the black shelf.

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          0.869          -0.25          0              180            0
   1  DishSponge      0.799          0.772          -0.570         0              270            0              68
   2  ButterKnife     -0.654         0.900          0.843          0              270            0              71
   3  ButterKnife     -1.886         0.701          -0.983         0              0              0              81
   4  Spatula         -0.453         0.915          1.272          0              0              0              71
   5  Fork            -1.803         0.693          -1.308         0              0              0              81
   6  Egg             -0.654         0.937          0.758          0              270            0              71
   7  Egg             0.883          0.809          -0.735         0              270            0              68
   8  Cup             0.787          0.014          -0.184         0              0              0              55
   9  Knife           0.817          0.783          0.002          0              270            0              44
  10  Knife           0.781          0.687          0.630          0              180            0              50
  11  Tomato          0.824          0.514          -1.958         0              270            0              65
  12  SoapBottle      0.841          0.663          0.326          0              0              0              50
  13  PepperShaker    0.961          0.660          0.448          0              0              0              50
  14  PepperShaker    0.994          1.460          -0.269         0              0              0              56
  15  SaltShaker      -0.855         0.896          1.187          0              270            0              71
  16  SaltShaker      -1.620         0.696          -3.529         0              0              0              72
  17  Bread           -1.056         0.944          0.843          0              270            0              71
  18  Lettuce         -1.719         0.788          -1.199         0              0              0              81
  19  Mug             0.698          0.941          -1.360         0              270            0              58
  20  Apple           0.799          0.826          -0.735         0              270            0              68
  21  Apple           1.040          0.937          -0.913         0              0              0              45
  22  Apple           0.803          0.937          -0.245         0              0              0              45
  23  Pot             -2.097         0.930          1.049          0              0              0              52
  24  Plate           -2.024         0.692          -1.447         0              0              0              81
  25  Fork            0.950          0.884          -0.245         0              0              0              45
  26  SoapBottle      0.149          0.899          0.758          0              270            0              71
  27  Apple           0.672          0.826          -0.515         0              270            0              68
  28  Pan             -1.552         0.930          0.785          0              0              0              49
  29  Egg             0.785          0.701          -1.880         0              270            0              65
  30  Spatula         0.817          0.774          -0.061         0              0              0              44
  31  Potato          0.601          0.697          0.265          0              0              0              50
  32  Cup             0.746          0.663          -1.725         0              270            0              65
  33  SaltShaker      0.961          0.661          0.265          0              0              0              50
  34  PepperShaker    0.787          0.012          0.011          0              0              0              55
  35  ButterKnife     0.754          0.755          -0.743         0              45             0              68
  36  DishSponge      0.623          0.759          -0.188         0              0              0              44
  37  Bread           0.149          0.944          1.015          0              270            0              71
  38  Lettuce         0.721          0.752          0.569          0              0              0              50
  39  Tomato          -1.056         0.949          1.015          0              270            0              71
  40  Spoon           0.715          0.773          -0.680         0              90             0              68
  41  Knife           0.877          0.906          0.098          0              0              0              45
  42  Mug             0.721          0.660          0.387          0              0              0              50
  43  Bowl            0.732          0.014          -0.702         0              0              0              48
  44  Drawer          0.706          0.766          -0.125         0              0              0
  45  CounterTop      0.792          0.919          -0.108         0              0              0
  46  Mirror          1.093          1.602          -0.643         0              0              0
  47  StoveBurner     -2.096         0.890          0.785          0              0              0
  48  Cabinet         0.507          0.345          -0.426         0              0              0
  49  StoveBurner     -1.552         0.890          0.785          0              0              0
  50  SideTable       0.770          -0.030         0.443          0              0              0
  51  Sink            0.753          0.882          -0.680         0              0              0
  52  StoveBurner     -2.096         0.890          1.049          0              0              0
  53  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  54  StoveBurner     -1.554         0.890          1.049          0              0              0
  55  Cabinet         0.507          0.345          0.156          0              0              0
  56  Cabinet         0.717          1.822          -0.398         0              0              0
  57  Cabinet         0.717          1.822          0.669          0              0              0
  58  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  59  Toaster         -0.522         0.886          1.081          0              180            0
  60  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  61  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  62  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  63  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  65  Fridge          0.680          -0.031         -1.957         0              0              0
  66  Window          -2.424         1.639          -2.453         90             270            0
  67  Microwave       -1.994         0.690          -3.651         0              0              0
  68  SinkBasin       0.757          0.762          -0.688         0              270            0
  69  LightSwitch     1.102          1.368          -3.737         0              270            0
  70  Shelf           -0.350         0.124          0.857          0              0              0
  71  DiningTable     -0.350         -0.025         0.857          0              0              0
  72  DiningTable     -1.909         -0.032         -3.507         0              0              0
  73  Blinds          -2.343         2.151          -2.437         0              270            0
  74  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  75  AluminumFoil    0.751          0.225          0.287          0              0              0
  76  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  77  Shelf           0.771          0.226          0.445          0              0              0
  78  Shelf           0.771          0.456          0.446          0              0              0
  79  Faucet          1.025          0.873          -0.678         270            180            0
  80  Shelf           -0.350         0.497          0.857          0              0              0
  81  DiningTable     -1.929         -0.035         -1.398         0              90             0
  82  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn to the left and face the counter. | STEP 2: Pick up the knife off of the counter. | STEP 3: Move to the right to face the sink. | STEP 4: Cut the apple in the sink into 3 parts. | STEP 5: Put the knife in the sink. | STEP 6: Pick up one slice of the apple. | STEP 7: Turn around and go to the left to face the microwave. | STEP 8: Open the microwave, place the apple inside, wait a few seconds then remove the apple. | STEP 9: Go to the left in front of the black shelf. | STEP 10: Place the apple on the black shelf. | END