Task: Place an apple on a pan then place it in a cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          6.75           0              90             0
   1  Potato          0.273          1.132          0.278          0              0              0              72
   2  Pot             1.559          0.988          4.294          0              0              0              54
   3  Spoon           -0.621         0.761          6.604          0              270            0              92
   4  Spoon           0.600          0.773          0.451          0              0              0              48
   5  Spatula         0.169          0.775          6.807          0              225            0              92
   6  Spatula         1.404          0.786          3.154          0              90             0              49
   7  Egg             -0.311         0.810          6.414          0              225            0              92
   8  Egg             1.497          0.940          2.085          0              90             0              79
   9  Cup             1.573          0.136          3.143          0              0              0              67
  10  Plate           1.573          0.141          2.720          0              0              0              68
  11  Plate           1.228          0.142          4.724          0              0              0              58
  12  Knife           1.387          0.920          2.576          0              270            0              79
  13  Tomato          -0.027         0.809          6.612          0              135            0              92
  14  Tomato          0.212          0.809          6.196          0              135            0              92
  15  SoapBottle      1.490          0.140          1.790          0              0              0              68
  16  SoapBottle      -0.421         0.760          6.305          0              225            0              92
  17  Bowl            -0.487         0.759          6.807          0              135            0              92
  18  Lettuce         0.014          0.848          6.217          0              135            0              92
  19  Mug             1.322          0.135          3.069          0              0              0              68
  20  Apple           2.104          0.155          6.528          0              0              0              80
  21  Bowl            0.150          0.759          6.479          0              270            0              92
  22  Bread           1.099          1.048          0.434          0              0              0              56
  23  Egg             -0.620         0.810          6.674          0              135            0              92
  24  Knife           1.332          0.926          2.137          0              180            0              79
  25  Fork            -0.159         0.760          6.787          0              90             0              92
  26  Apple           -0.159         0.834          6.632          0              0              0              92
  27  Kettle          1.593          0.981          3.25           0              255.000        0              56
  28  Plate           1.238          0.141          3.439          0              0              0              67
  29  SaltShaker      -0.762         0.987          0.395          0              0              0              56
  30  Lettuce         -0.384         1.081          0.303          0              90             0              56
  31  SoapBottle      1.403          0.992          0.440          0              0              0              56
  32  Spatula         0.668          0.787          0.619          0              270            0              48
  33  PaperTowelRoll  -0.096         0.864          6.014          0              0              0              92
  34  Pot             1.562          0.988          3.848          0              0              0              50
  35  Potato          1.135          1.027          3.511          0              0              0              56
  36  ButterKnife     0.015          0.760          6.742          0              225            0              92
  37  PepperShaker    -0.244         0.755          6.128          0              225            0              92
  38  Pan             1.313          0.985          4.284          0              0              0              51
  39  Tomato          1.135          1.042          3.044          0              0              0              56
  40  DishSponge      1.490          0.140          2.233          0              0              0              68
  41  Cup             -0.312         0.756          6.604          0              270            0              92
  42  Spoon           1.314          0.993          3.231          0              0              0              56
  43  Mug             -0.401         0.755          6.456          0              135            0              92
  44  Cabinet         1.307          2.455          4.360          0              0              0
  45  Cabinet         1.054          0.422          1.710          0              0              0
  46  Drawer          1.280          0.808          4.718          0              0              0
  47  Cabinet         1.307          2.455          3.607          0              0              0
  48  Drawer          0.736          0.802          0.521          0              0              0
  49  Drawer          1.276          0.802          3.291          0              0              0
  50  StoveBurner     1.562          0.982          3.848          0              0              0
  51  StoveBurner     1.317          0.982          4.294          0              0              0
  52  Drawer          -0.482         0.802          0.521          0              0              0
  53  Drawer          0.124          0.802          0.521          0              0              0
  54  StoveBurner     1.559          0.982          4.294          0              0              0
  55  StoveBurner     1.320          0.982          3.848          0              0              0
  56  CounterTop      1.391          1.028          0.897          0              0              0
  57  CounterTop      1.391          1.028          4.716          0              0              0
  58  Cabinet         1.054          0.422          4.548          0              0              0
  59  Cabinet         1.317          2.134          0.517          0              0              0
  60  Cabinet         1.317          2.134          4.889          0              0              0
  61  Cabinet         1.317          2.134          3.095          0              0              0
  62  Cabinet         0.443          0.422          0.743          0              0              0
  63  Cabinet         1.270          2.134          0.434          0              0              0
  64  Cabinet         -0.775         0.422          0.743          0              0              0
  65  Cabinet         -0.168         0.422          0.743          0              0              0
  66  Cabinet         1.317          2.134          1.534          0              0              0
  67  Cabinet         1.054          0.422          2.990          0              0              0
  68  Cabinet         1.054          0.422          2.944          0              0              0
  69  Cabinet         -0.263         2.134          0.434          0              0              0
  70  Cabinet         0.252          2.134          0.434          0              0              0
  71  Sink            1.391          1.006          2.326          0              0              0
  72  Microwave       0.108          0.981          0.262          0              0              0
  73  HousePlant      -0.165         0.826          6.444          0              0              0
  74  CoffeeMachine   1.551          0.982          0.953          0              270            0
  75  Toaster         1.473          0.981          4.715          0              270            0
  76  Window          -2.065         1.916          3.626          90             90             0
  77  Window          1.763          2.007          2.299          90             270            0
  78  Fridge          2.035          0.0            5.625          0              0              0
  79  SinkBasin       1.387          0.880          2.338          0              90             0
  80  GarbageCan      2.001          -0.044         6.503          0              0              0
  81  StoveKnob       1.140          0.934          3.987          45             270            0
  82  StoveKnob       1.140          0.934          4.309          45             270            0
  83  StoveKnob       1.140          0.934          4.140          45             270            0
  84  StoveKnob       1.140          0.934          3.824          45             270            0
  85  Vase            -0.226         0.834          6.993          0              0              0
  86  Vase            2.098          0.043          7.070          0              257.232        0
  87  Vase            -0.594         0.835          6.130          0              225            0
  88  LightSwitch     -2.0           1.549          6.045          0              90             0
  89  Safe            2.046          1.072          7.054          0              257.232        0
  90  Faucet          1.534          1.025          2.371          0              294.391        0
  91  Blinds          1.738          2.563          2.312          0              90             0
  92  DiningTable     -0.156         0.000          6.474          0              0              0
  93  Chair           0.291          0.002          6.142          0              310.162        0
  94  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn right, turn right and walk to the round black table | STEP 2: Pick up the silver knife on the table | STEP 3: Slice the apple on the table into pieces | STEP 4: Turn left, then right back to the table | STEP 5: Place the knife back on top of the table | STEP 6: Turn left, then turn right back to the table | STEP 7: Pick up a piece of the sliced apple off the table | STEP 8: Turn left, turn right, turn left, walk straight, turn left towards the stove,  | STEP 9: Place the apple on the pan | STEP 10: Pick up the pan on the oven | STEP 11: Turn left, walk straight,turn right towards the cabinet | STEP 12: Open the cabinet, place the pan at the very top, close the cabinet. | END