Task: Cut an apple, put the knife and an apple piece into the pan

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.899          4.75           0              90             0
   1  Pencil          -3.472         0.745          1.986          0              0              0              76
   2  ButterKnife     -1.693         0.923          1.648          0              270            0              52
   3  Pot             -2.469         0.930          1.712          0              270            0              85
   4  Fork            -4.094         0.756          2.501          0              0              0              50
   5  Spoon           -4.108         0.924          5.159          0              90             0              70
   6  Spoon           -1.693         0.924          1.648          0              180            0              52
   7  Spatula         -3.733         0.938          5.182          0              90             0              70
   8  Spatula         -4.335         0.938          5.159          0              90             0              70
   9  Cup             -4.159         0.789          3.159          0              270            0              102
  10  Cup             -2.740         1.545          1.666          0              0              0              100
  11  Knife           -1.860         0.953          2.026          0              0              0              52
  12  Knife           -1.943         0.953          1.724          0              0              0              52
  13  SoapBottle      -4.249         0.077          2.327          0              90             0              80
  14  Tomato          -1.610         0.980          1.8            0              0              0              52
  15  PepperShaker    -1.610         0.919          2.026          0              0              0              52
  16  Lettuce         -3.675         0.164          6.375          0              0              0              96
  17  Lettuce         -0.488         1.020          4.944          0              0              0              55
  18  Bread           -1.777         1.003          1.724          0              0              0              52
  19  Apple           -4.242         0.976          2.183          0              0              0              70
  20  Egg             -2.635         1.582          1.666          0              0              0              100
  21  Apple           -0.565         0.978          6.261          0              0              0              55
  22  Knife           -0.181         0.954          4.944          0              0              0              55
  23  Potato          -1.943         0.956          1.8            0              0              0              52
  24  Fork            -0.488         0.925          5.273          0              0              0              55
  25  Bowl            -1.855         0.078          1.931          0              0              0              86
  26  Plate           -0.401         1.071          3.850          0              270            0              103
  27  Lettuce         -4.196         0.886          3.347          0              270            0              102
  28  Bread           -0.181         1.004          5.603          0              0              0              55
  29  Tomato          -0.301         1.742          3.975          0              270            0              103
  30  WineBottle      -0.258         0.926          4.615          0              0              0              55
  31  Spatula         -3.686         0.938          2.026          0              0              0              70
  32  PaperTowelRoll  -0.565         1.029          5.603          0              0              0              55
  33  Cup             -0.237         2.134          6.070          0              180            0              54
  34  Pencil          -3.712         0.068          6.457          0              270            0              96
  35  Pan             -2.454         0.933          2.023          0              240.000        0              58
  36  Pot             -2.924         0.930          1.712          0              180            0              67
  37  SaltShaker      -0.269         2.131          4.770          0              180            0              59
  38  SoapBottle      -0.246         2.133          4.001          0              180            0              79
  39  PepperShaker    -3.743         0.741          5.162          0              180            0              73
  40  ButterKnife     -0.411         0.925          5.932          0              0              0              55
  41  DishSponge      -0.532         0.745          5.189          0              270            0              49
  42  Spoon           -4.033         0.924          4.122          0              90             0              70
  43  Mug             -0.383         1.330          3.355          0              270            0              103
  44  Cabinet         -3.203         1.931          1.777          0              0              0
  45  Cabinet         -3.187         0.390          2.089          0              0              0
  46  Cabinet         -0.637         0.387          6.882          0              180            0
  47  Drawer          -3.797         0.781          1.961          0              0              0
  48  Cabinet         -3.036         0.387          5.029          0              90             0
  49  Drawer          -0.509         0.775          5.268          0              270            0
  50  Drawer          -4.125         0.798          2.499          0              0              0
  51  Cabinet         -0.331         2.249          4.308          0              180            0
  52  CounterTop      -1.872         0.958          1.799          0              0              0
  53  StoveBurner     -2.924         0.924          2.012          0              0              0
  54  Cabinet         -0.331         2.249          6.806          0              180            0
  55  CounterTop      -0.345         0.960          5.603          0              0              0
  56  Cabinet         -3.039         1.935          5.321          0              90             0
  57  Cabinet         -3.922         0.397          2.088          0              0              0
  58  StoveBurner     -2.467         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          5.505          0              180            0
  60  Drawer          -0.509         0.775          4.617          0              270            0
  61  Drawer          -3.509         0.777          5.157          0              180            0
  62  Cabinet         -3.961         0.388          2.878          0              0              0
  63  Cabinet         -3.961         0.388          4.342          0              0              0
  64  Cabinet         -0.637         0.387          5.582          0              180            0
  65  Cabinet         -0.637         0.388          4.299          0              180            0
  66  Cabinet         -0.637         0.388          5.599          0              180            0
  67  StoveBurner     -2.924         0.924          1.712          0              180            0
  68  Drawer          -1.859         0.775          1.961          0              0              0
  69  Cabinet         -0.331         2.249          5.609          0              180            0
  70  CounterTop      -4.260         0.958          4.943          0              90             0
  71  Cabinet         -4.284         1.931          2.226          0              0              0
  72  Cabinet         -0.331         2.249          3.010          0              180            0
  73  Drawer          -3.801         0.777          5.157          0              180            0
  74  Cabinet         -4.112         1.935          5.321          0              90             0
  75  Cabinet         -3.968         0.388          3.662          0              0              0
  76  Drawer          -3.418         0.777          1.961          0              0              0
  77  Drawer          -4.090         0.777          4.661          0              90             0
  78  Faucet          -4.441         0.909          3.288          270            0              0
  79  Cabinet         -0.331         2.249          4.207          0              180            0
  80  Cabinet         -3.961         0.388          2.119          0              0              0
  81  Drawer          -0.509         0.775          5.920          0              270            0
  82  Drawer          -3.193         0.777          5.157          0              180            0
  83  Cabinet         -3.968         0.388          2.894          0              0              0
  84  Cabinet         -3.667         0.387          5.029          0              90             0
  85  StoveBurner     -2.469         0.924          1.712          0              270            0
  86  Cabinet         -1.539         0.388          2.090          0              0              0
  87  Sink            -4.190         0.921          3.279          0              0              0
  88  Cabinet         -3.641         0.387          5.029          0              90             0
  89  Cabinet         -1.583         1.931          1.777          0              0              0
  90  Drawer          -0.509         0.775          6.568          0              270            0
  91  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  92  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  96  GarbageCan      -3.711         -0.030         6.376          0              270            0
  97  Toaster         -3.578         0.912          1.763          0              0              0
  98  Curtains        -4.522         2.252          3.391          90             90             0
  99  Window          -4.868         1.629          3.309          90             270            0
 100  Microwave       -2.693         1.430          1.689          0              0              0
 101  LightSwitch     -1.588         1.169          1.506          0              0              0
 102  SinkBasin       -4.196         0.780          3.276          0              270            0
 103  Fridge          -0.324         -0.001         3.602          0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Go forward, turn right, go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn around, go forward, turn right and go to the counter | STEP 4: Cut the apple on the counter | STEP 5: Turn around, go forward, turn left and go to the stove | STEP 6: Put the knife in the pan | STEP 7: Turn around, go forward, turn right and go to the counter | STEP 8: Pick up an apple slice from the counter | STEP 9: Turn around, go forward, turn left and go to the stove | STEP 10: Put the apple piece in the pan | STEP 11: Pick up the pan on the stove | STEP 12: Turn around, go forward, turn left and go to the counter | STEP 13: Put the pan on the counter | END