Task: Put a knife and heated apple piece onto a counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.899          3.5            0              180            0
   1  Pan             -0.401         1.070          3.479          0              0              0              106
   2  Potato          -0.301         1.369          3.231          0              270            0              106
   3  Potato          -4.451         0.956          2.766          0              0              0              73
   4  ButterKnife     -4.196         0.790          3.347          0              90             0              105
   5  ButterKnife     -4.184         0.923          5.159          0              90             0              73
   6  WineBottle      -4.093         0.078          2.205          0              0              0              83
   7  Pot             -2.924         0.930          1.712          0              180            0              70
   8  Pot             -2.469         0.930          1.712          0              270            0              88
   9  Fork            -1.777         0.924          1.875          0              90             0              55
  10  Spoon           -4.159         0.792          3.097          0              0              0              105
  11  Spatula         -4.517         0.938          3.082          0              90             0              73
  12  Spatula         -0.258         0.940          5.273          0              0              0              58
  13  Cup             -2.530         1.545          1.698          0              0              0              103
  14  Cup             -0.342         1.579          3.409          0              270            0              106
  15  Knife           -4.312         0.953          2.649          0              0              0              73
  16  SoapBottle      -1.860         0.923          1.951          0              0              0              55
  17  Tomato          -4.233         0.848          3.410          0              270            0              105
  18  Tomato          -4.271         0.848          3.222          0              270            0              105
  19  Lettuce         -1.693         1.018          1.648          0              0              0              55
  20  Lettuce         -0.401         1.165          3.974          0              270            0              106
  21  Bread           -3.859         1.003          1.799          0              0              0              73
  22  Mug             -0.409         0.955          6.557          0              270            0              94
  23  Egg             -2.635         1.582          1.698          0              0              0              103
  24  Apple           -1.610         0.976          1.875          0              0              0              55
  25  Knife           -4.242         0.953          2.183          0              0              0              73
  26  Potato          -0.218         1.614          3.530          0              270            0              106
  27  Fork            -4.242         0.924          2.882          0              0              0              73
  28  Bowl            -0.258         0.922          4.615          0              0              0              58
  29  Plate           -3.852         0.924          5.259          0              90             0              73
  30  Lettuce         -0.242         1.165          3.726          0              90             0              106
  31  Bread           -0.301         1.415          3.726          0              270            0              106
  32  Tomato          -3.675         0.125          6.457          0              270            0              99
  33  WineBottle      -2.026         0.924          1.648          0              0              0              55
  34  Spatula         -2.026         0.938          1.8            0              180            0              55
  35  PaperTowelRoll  -0.258         1.029          5.603          0              0              0              58
  36  Cup             -4.172         0.922          2.416          0              0              0              73
  37  Pencil          -0.411         0.925          4.944          0              0              0              58
  38  Pan             -2.454         0.933          2.023          0              240.000        0              61
  39  Pot             -3.374         0.924          5.259          0              90             0              73
  40  SaltShaker      -0.503         0.743          6.333          0              270            0              84
  41  SoapBottle      -3.748         0.068          6.333          0              270            0              99
  42  PepperShaker    -4.26          0.919          3.863          0              90             0              73
  43  ButterKnife     -1.693         0.923          2.026          0              0              0              55
  44  DishSponge      -4.381         0.923          2.533          0              0              0              73
  45  Spoon           -3.340         0.924          2.026          0              0              0              73
  46  Mug             -1.943         0.918          2.026          0              0              0              55
  47  Cabinet         -3.203         1.931          1.777          0              0              0
  48  Cabinet         -3.187         0.390          2.089          0              0              0
  49  Cabinet         -0.637         0.387          6.882          0              180            0
  50  Drawer          -3.797         0.781          1.961          0              0              0
  51  Cabinet         -3.036         0.387          5.029          0              90             0
  52  Drawer          -0.509         0.775          5.268          0              270            0
  53  Drawer          -4.125         0.798          2.499          0              0              0
  54  Cabinet         -0.331         2.249          4.308          0              180            0
  55  CounterTop      -1.872         0.958          1.799          0              0              0
  56  StoveBurner     -2.924         0.924          2.012          0              0              0
  57  Cabinet         -0.331         2.249          6.806          0              180            0
  58  CounterTop      -0.345         0.960          5.603          0              0              0
  59  Cabinet         -3.039         1.935          5.321          0              90             0
  60  Cabinet         -3.922         0.397          2.088          0              0              0
  61  StoveBurner     -2.467         0.924          2.012          0              0              0
  62  Cabinet         -0.331         2.249          5.505          0              180            0
  63  Drawer          -0.509         0.775          4.617          0              270            0
  64  Drawer          -3.509         0.777          5.157          0              180            0
  65  Cabinet         -3.961         0.388          2.878          0              0              0
  66  Cabinet         -3.961         0.388          4.342          0              0              0
  67  Cabinet         -0.637         0.387          5.582          0              180            0
  68  Cabinet         -0.637         0.388          4.299          0              180            0
  69  Cabinet         -0.637         0.388          5.599          0              180            0
  70  StoveBurner     -2.924         0.924          1.712          0              180            0
  71  Drawer          -1.859         0.775          1.961          0              0              0
  72  Cabinet         -0.331         2.249          5.609          0              180            0
  73  CounterTop      -4.260         0.958          4.943          0              90             0
  74  Cabinet         -4.284         1.931          2.226          0              0              0
  75  Cabinet         -0.331         2.249          3.010          0              180            0
  76  Drawer          -3.801         0.777          5.157          0              180            0
  77  Cabinet         -4.112         1.935          5.321          0              90             0
  78  Cabinet         -3.968         0.388          3.662          0              0              0
  79  Drawer          -3.418         0.777          1.961          0              0              0
  80  Drawer          -4.090         0.777          4.661          0              90             0
  81  Faucet          -4.441         0.909          3.288          270            0              0
  82  Cabinet         -0.331         2.249          4.207          0              180            0
  83  Cabinet         -3.961         0.388          2.119          0              0              0
  84  Drawer          -0.509         0.775          5.920          0              270            0
  85  Drawer          -3.193         0.777          5.157          0              180            0
  86  Cabinet         -3.968         0.388          2.894          0              0              0
  87  Cabinet         -3.667         0.387          5.029          0              90             0
  88  StoveBurner     -2.469         0.924          1.712          0              270            0
  89  Cabinet         -1.539         0.388          2.090          0              0              0
  90  Sink            -4.190         0.921          3.279          0              0              0
  91  Cabinet         -3.641         0.387          5.029          0              90             0
  92  Cabinet         -1.583         1.931          1.777          0              0              0
  93  Drawer          -0.509         0.775          6.568          0              270            0
  94  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  95  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  98  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  99  GarbageCan      -3.711         -0.030         6.376          0              270            0
 100  Toaster         -3.578         0.912          1.763          0              0              0
 101  Curtains        -4.522         2.252          3.391          90             90             0
 102  Window          -4.868         1.629          3.309          90             270            0
 103  Microwave       -2.693         1.430          1.689          0              0              0
 104  LightSwitch     -1.588         1.169          1.506          0              0              0
 105  SinkBasin       -4.196         0.780          3.276          0              270            0
 106  Fridge          -0.324         -0.001         3.602          0              0              0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn left and walk to the fridge.  Then turn right and walk to the counter just before reaching the door.  Turn to face the short edge of the counter near the door. | STEP 2: Pick up the knife that is on the right hand side of the apple on the counter. | STEP 3: Cut the apple on the counter into three pieces. | STEP 4: Holding the knife, turn right and walk to the fridge.  Then turn left and walk to the counter on the right hand side of the black dishwasher. | STEP 5: Put the knife down on the counter above and to the right of the dishwasher. | STEP 6: Turn around 180 degrees and walk to the fridge.  Then turn right and walk to the counter just before the door.  Turn to face the short edge of the counter near the door. | STEP 7: Pick up one piece of the apple on the counter. | STEP 8: Walk around the counter's edge you are currently facing, moving slightly to the right.  Continue walking along the counter to stand in front of the stove top. | STEP 9: Put the apple piece into the microwave that is above the stove top.  Put the apple piece on the right hand side of the egg.  Close the microwave door, microwave the apple for a few seconds, then open the door.  Take out the apple piece and close the microwave door. | STEP 10: Holding the apple piece, turn around 180 degrees.  Walk past the sink and stand in front of the counter to the right of the black dishwasher. | STEP 11: Place the apple piece onto the counter to the right of the knife. | END