Task: Slice apple to place part of it in a pan

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          2.5            0              180            0
   1  Pan             -0.662         1.047          2.593          0              180            0              51
   2  Potato          -0.309         1.243          0.443          0              0              0              74
   3  Potato          -1.111         0.962          0.428          0              0              0              73
   4  DishSponge      -2.514         1.124          0.095          0              0              0              61
   5  Pot             -3.000         1.133          0.480          0              270            0              56
   6  Fork            -0.168         1.047          2.144          0              90             0              51
   7  Fork            -0.662         1.048          2.144          0              0              0              51
   8  Spoon           -0.827         1.126          0.478          0              0              0              63
   9  Spoon           -2.416         0.904          0.612          0              270            0              60
  10  Spatula         -1.199         0.946          0.567          0              270            0              73
  11  Spatula         -3.814         1.139          0.284          0              90             0              58
  12  Cup             -1.195         0.047          0.324          0              0              0              55
  13  Plate           -2.639         1.123          0.567          0              0              0              61
  14  Plate           -2.388         1.123          0.379          0              0              0              61
  15  Knife           -1.553         0.963          0.498          0              180            0              73
  16  SoapBottle      -1.522         0.049          0.608          0              0              0              66
  17  SoapBottle      -1.562         0.049          0.325          0              0              0              66
  18  SaltShaker      -0.908         1.044          3.266          0              0              0              51
  19  PepperShaker    -1.948         0.484          0.613          0              0              0              52
  20  Mug             -1.288         0.926          0.221          0              90             0              73
  21  Mug             -0.377         1.095          3.194          0              270            0              67
  22  Apple           -2.262         1.192          0.567          0              0              0              61
  23  Apple           -3.506         1.354          3.061          0              90             0              68
  24  Fork            -1.376         0.932          0.290          0              0              0              73
  25  SoapBottle      -1.116         0.049          0.608          0              0              0              55
  26  Pot             -3.475         1.133          0.48           0              90             0              49
  27  Ladle           -2.137         1.164          0.473          0              0              0              61
  28  Potato          -1.642         0.962          0.359          0              0              0              73
  29  Plate           -3.572         0.910          2.920          0              90             0              68
  30  Bread           -3.440         1.649          2.920          0              90             0              68
  31  Lettuce         -0.292         1.125          1.920          0              0              0              51
  32  Spatula         -1.288         0.946          0.567          0              270            0              73
  33  Pan             -0.266         1.038          2.561          0              0              0              51
  34  Egg             -0.203         1.258          0.377          0              0              0              74
  35  Cup             -1.885         1.122          0.190          0              0              0              61
  36  SaltShaker      -1.195         0.045          0.494          0              0              0              55
  37  Knife           -0.662         1.079          1.920          0              0              0              51
  38  Bowl            -0.495         1.038          2.223          0              0              0              51
  39  PepperShaker    -1.076         0.045          0.437          0              0              0              55
  40  ButterKnife     -0.827         1.124          0.569          0              0              0              63
  41  Apple           -3.639         1.627          3.061          0              90             0              68
  42  Tomato          -2.639         1.165          0.379          0              0              0              61
  43  DishSponge      -0.883         1.124          0.569          0              0              0              63
  44  Spoon           -2.545         0.489          0.579          0              0              0              64
  45  Mug             -3.307         1.555          3.132          0              90             0              68
  46  StoveKnob       -3.322         1.053          0.709          45             0              0
  47  StoveBurner     -3.474         1.097          0.227          0              180            0
  48  Sink            -1.394         0.982          0.439          0              0              0
  49  StoveBurner     -3.474         1.097          0.479          0              180            0
  50  StoveKnob       -3.164         1.053          0.709          45             0              0
  51  DiningTable     -0.620         0.017          2.486          0              0              0
  52  Drawer          -2.043         0.608          0.594          0              0              0
  53  Drawer          -2.043         0.216          0.594          0              0              0
  54  Drawer          -2.498         0.216          0.594          0              0              0
  55  Cabinet         -1.001         0.393          0.734          0              0              0
  56  StoveBurner     -3.000         1.097          0.480          0              0              0
  57  StoveKnob       -3.492         1.053          0.709          45             0              0
  58  CounterTop      -3.856         1.160          0.379          0              0              0
  59  Drawer          -2.043         0.937          0.599          0              0              0
  60  Drawer          -2.509         0.937          0.599          0              0              0
  61  CounterTop      -2.280         1.160          0.379          0              0              0
  62  StoveKnob       -2.985         1.053          0.709          45             0              0
  63  CounterTop      -0.514         1.160          0.492          0              0              0
  64  Drawer          -2.498         0.608          0.594          0              0              0
  65  StoveBurner     -3.000         1.097          0.227          0              0              0
  66  Cabinet         -1.733         0.393          0.734          0              0              0
  67  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  68  Fridge          -3.519         0.0            2.717          0              90             0
  69  Window          -1.394         1.924          0.014          90             0              0
  70  Window          -3.266         1.924          0.014          90             0              0
  71  Toaster         -0.225         1.038          2.865          0              270            0
  72  GarbageCan      -3.696         0.002          2.008          0              0              0
  73  SinkBasin       -1.389         0.921          0.428          0              0              0
  74  Microwave       -0.366         1.113          0.430          0              0              0
  75  HousePlant      -2.155         1.101          0.169          0              332.897        0
  76  LightSwitch     -2.584         1.299          3.5            0              180            0
  77  Faucet          -1.393         1.373          0.168          0              270            0
  78  NorthWall
  79  SouthWall
  80  SouthWall

Plan:
STEP 1: Take left, walk to table | STEP 2: Take the knife with yellow handle off the table  | STEP 3: Turn around, walk to fridge, take left, walk to counter | STEP 4: Slice the apple on the counter with knife | STEP 5: Take left, walk to end of counter, take a right | STEP 6: Stab the knife near the scrubby on the counter | STEP 7: Take right, walk back to apple, turn to counter | STEP 8: Take one of the three slices of apple | STEP 9: Turn around in a circle, walk to stove top | STEP 10: Place apple slice in pan on right | STEP 11: Grab pan with apple slice | STEP 12: walk back over to knife stabbing scrubby on counter | STEP 13: Place pan behind knife on counter  | END