Task: To put a knife plus an apple slice on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.899          5.0            0              90             0
   1  Pan             -2.924         0.930          1.712          0              180            0              75
   2  Pencil          -1.860         0.747          1.956          0              0              0              76
   3  Potato          -0.301         1.719          3.733          0              270            0              111
   4  Potato          -3.712         0.102          6.457          0              270            0              104
   5  DishSponge      -4.080         1.455          1.787          0              45             0              79
   6  DishSponge      -0.532         0.745          5.422          0              270            0              57
   7  ButterKnife     -2.026         0.923          1.875          0              90             0              60
   8  Fork            -3.494         0.924          5.259          0              90             0              78
   9  Fork            -4.159         0.791          3.472          0              0              0              110
  10  Spoon           -4.26          0.924          3.863          0              90             0              78
  11  Spoon           -3.859         0.924          1.875          0              0              0              78
  12  Spatula         -4.184         0.938          4.640          0              90             0              78
  13  Spatula         -1.610         0.938          1.875          0              0              0              60
  14  Cup             -2.530         1.545          1.698          0              0              0              108
  15  Cup             -3.925         1.457          5.401          0              90             0              82
  16  Plate           -4.233         0.791          3.347          0              270            0              110
  17  Knife           -4.242         0.953          2.183          0              0              0              78
  18  SoapBottle      -0.258         0.924          4.944          0              0              0              63
  19  SoapBottle      -0.334         0.924          5.603          0              0              0              63
  20  Tomato          -4.121         0.848          3.159          0              270            0              110
  21  SaltShaker      -4.094         0.751          2.679          0              0              0              58
  22  PepperShaker    -4.066         0.743          4.436          0              90             0              85
  23  PepperShaker    -2.026         0.919          1.573          0              0              0              60
  24  Lettuce         -3.748         0.164          6.292          0              270            0              104
  25  Lettuce         -0.342         1.676          3.470          0              270            0              111
  26  Bread           -1.943         1.003          1.875          0              0              0              60
  27  Mug             -4.271         0.785          3.159          0              270            0              110
  28  Egg             -0.383         1.721          3.915          0              270            0              111
  29  Apple           -0.242         1.124          3.850          0              270            0              111
  30  Knife           -0.258         0.954          5.932          0              90             0              63
  31  Potato          -0.301         1.614          3.228          0              270            0              111
  32  Fork            -4.108         0.924          5.418          0              90             0              78
  33  Bowl            -4.167         0.074          4.737          0              0              0              71
  34  Plate           -0.181         0.925          5.273          0              0              0              63
  35  Lettuce         -0.454         1.165          3.974          0              270            0              111
  36  Bread           -0.301         1.415          3.355          0              270            0              111
  37  Tomato          -2.109         0.980          1.8            0              0              0              60
  38  WineBottle      -4.086         0.085          2.575          0              0              0              70
  39  Spatula         -0.258         0.940          5.603          0              180            0              63
  40  PaperTowelRoll  -2.109         1.027          2.026          0              0              0              60
  41  Cup             -0.218         1.684          3.975          0              270            0              111
  42  Pencil          -4.172         0.923          2.649          0              0              0              78
  43  Pan             -2.454         0.933          2.023          0              240.000        0              66
  44  Pot             -2.469         0.930          1.712          0              270            0              93
  45  SaltShaker      -2.093         0.743          1.896          0              0              0              76
  46  SoapBottle      -3.639         0.068          6.457          0              270            0              104
  47  PepperShaker    -4.064         0.080          3.129          0              0              0              91
  48  ButterKnife     -4.335         0.923          4.900          0              90             0              78
  49  DishSponge      -3.419         0.081          1.927          0              0              0              53
  50  Spoon           -3.733         0.924          5.336          0              90             0              78
  51  Mug             -0.411         0.920          4.944          0              0              0              63
  52  Cabinet         -3.203         1.931          1.777          0              0              0
  53  Cabinet         -3.187         0.390          2.089          0              0              0
  54  Cabinet         -0.637         0.387          6.882          0              180            0
  55  Drawer          -3.797         0.781          1.961          0              0              0
  56  Cabinet         -3.036         0.387          5.029          0              90             0
  57  Drawer          -0.509         0.775          5.268          0              270            0
  58  Drawer          -4.125         0.798          2.499          0              0              0
  59  Cabinet         -0.331         2.249          4.308          0              180            0
  60  CounterTop      -1.872         0.958          1.799          0              0              0
  61  StoveBurner     -2.924         0.924          2.012          0              0              0
  62  Cabinet         -0.331         2.249          6.806          0              180            0
  63  CounterTop      -0.345         0.960          5.603          0              0              0
  64  Cabinet         -3.039         1.935          5.321          0              90             0
  65  Cabinet         -3.922         0.397          2.088          0              0              0
  66  StoveBurner     -2.467         0.924          2.012          0              0              0
  67  Cabinet         -0.331         2.249          5.505          0              180            0
  68  Drawer          -0.509         0.775          4.617          0              270            0
  69  Drawer          -3.509         0.777          5.157          0              180            0
  70  Cabinet         -3.961         0.388          2.878          0              0              0
  71  Cabinet         -3.961         0.388          4.342          0              0              0
  72  Cabinet         -0.637         0.387          5.582          0              180            0
  73  Cabinet         -0.637         0.388          4.299          0              180            0
  74  Cabinet         -0.637         0.388          5.599          0              180            0
  75  StoveBurner     -2.924         0.924          1.712          0              180            0
  76  Drawer          -1.859         0.775          1.961          0              0              0
  77  Cabinet         -0.331         2.249          5.609          0              180            0
  78  CounterTop      -4.260         0.958          4.943          0              90             0
  79  Cabinet         -4.284         1.931          2.226          0              0              0
  80  Cabinet         -0.331         2.249          3.010          0              180            0
  81  Drawer          -3.801         0.777          5.157          0              180            0
  82  Cabinet         -4.112         1.935          5.321          0              90             0
  83  Cabinet         -3.968         0.388          3.662          0              0              0
  84  Drawer          -3.418         0.777          1.961          0              0              0
  85  Drawer          -4.090         0.777          4.661          0              90             0
  86  Faucet          -4.441         0.909          3.288          270            0              0
  87  Cabinet         -0.331         2.249          4.207          0              180            0
  88  Cabinet         -3.961         0.388          2.119          0              0              0
  89  Drawer          -0.509         0.775          5.920          0              270            0
  90  Drawer          -3.193         0.777          5.157          0              180            0
  91  Cabinet         -3.968         0.388          2.894          0              0              0
  92  Cabinet         -3.667         0.387          5.029          0              90             0
  93  StoveBurner     -2.469         0.924          1.712          0              270            0
  94  Cabinet         -1.539         0.388          2.090          0              0              0
  95  Sink            -4.190         0.921          3.279          0              0              0
  96  Cabinet         -3.641         0.387          5.029          0              90             0
  97  Cabinet         -1.583         1.931          1.777          0              0              0
  98  Drawer          -0.509         0.775          6.568          0              270            0
  99  CoffeeMachine   -0.279         0.912          6.556          0              270            0
 100  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 103  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 104  GarbageCan      -3.711         -0.030         6.376          0              270            0
 105  Toaster         -3.578         0.912          1.763          0              0              0
 106  Curtains        -4.522         2.252          3.391          90             90             0
 107  Window          -4.868         1.629          3.309          90             270            0
 108  Microwave       -2.693         1.430          1.689          0              0              0
 109  LightSwitch     -1.588         1.169          1.506          0              0              0
 110  SinkBasin       -4.196         0.780          3.276          0              270            0
 111  Fridge          -0.324         -0.001         3.602          0              0              0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Turn right and walk across the room to face the counter to the left of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn to the left and walk over to the black cabinet. | STEP 4: Open the cabinet and cut the apple in the cabinet into 3 pieces. | STEP 5: Turn around and walk across the room to face the counter. | STEP 6: Put the knife on the counter. | STEP 7: Turn around and walk across the room to face the cabinet. | STEP 8: Pick up a piece of apple from the cabinet. | STEP 9: Turn to the right and walk over to the stove. | STEP 10: Heat the apple in the microwave and remove it. | STEP 11: Turn around walk across the room and then face the counter on the left. | STEP 12: Put the apple slice on the counter to the right of the knife. | END