Task: Put a cooked piece of apple on 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           1.0            0.900          -1.25          0              0              0
   1  Statue          -1.278         0.920          0.135          0              0              0              73
   2  Potato          1.845          0.093          0.138          0              0              0              83
   3  Ladle           -1.063         0.950          0.135          0              0              0              73
   4  Ladle           -0.849         0.950          0.030          0              0              0              73
   5  DishSponge      1.194          0.910          -1.929         0              0              0              80
   6  ButterKnife     -1.330         0.901          -0.231         0              0              0              73
   7  Kettle          1.194          0.912          -2.098         0              0              0              80
   8  Pot             -1.289         0.957          -0.756         0              180            0              55
   9  Spatula         -0.598         1.146          0.485          0              0              0              76
  10  Fork            -1.018         0.911          -2.098         0              0              0              80
  11  Spoon           -0.031         0.764          -1.952         0              0              0              90
  12  Knife           -1.045         1.155          0.485          0              0              0              76
  13  SoapBottle      1.419          0.911          -1.844         0              0              0              80
  14  Bowl            1.891          1.095          -0.365         0              270            0              87
  15  Bowl            1.891          1.424          -0.644         0              270            0              87
  16  SaltShaker      3.109          0.548          0.193          0              180            0              86
  17  SaltShaker      -0.679         0.688          0.190          0              180            0              74
  18  PepperShaker    -0.264         0.112          0.163          0              180            0              68
  19  Mug             -0.117         0.758          -2.063         0              0              0              90
  20  Mug             2.000          0.812          -0.551         0              270            0              87
  21  Apple           1.963          0.111          0.138          0              0              0              83
  22  Pan             1.743          0.9            -1.969         0              308.846        0              80
  23  Knife           -0.375         1.155          0.441          0              0              0              76
  24  Bowl            2.798          0.549          0.193          0              180            0              86
  25  Fork            -0.376         0.763          -2.063         0              90             0              90
  26  Cup             0.101          0.750          -1.938         0              0              0              90
  27  Ladle           -0.152         1.168          0.529          0              0              0              76
  28  Apple           0.071          1.180          0.662          0              0              0              76
  29  Kettle          -1.056         0.956          -0.672         0              180            0              52
  30  Vase            1.571          0.119          -1.462         0              0              0              54
  31  Potato          2.055          1.458          -0.737         0              270            0              87
  32  Pot             -1.289         0.957          -1.02          0              0              0              70
  33  Bread           -1.148         0.981          -0.192         0              0              0              73
  34  Plate           -0.598         1.129          0.618          0              0              0              76
  35  Spatula         -1.259         0.926          -2.267         0              90             0              80
  36  PaperTowelRoll  -0.152         1.235          0.485          0              270            0              76
  37  Vase            -1.356         1.664          -1.726         0              0              0              62
  38  Egg             2.042          0.096          0.195          0              0              0              83
  39  SoapBottle      -0.205         0.913          0.188          0              0              0              73
  40  SaltShaker      3.105          0.876          0.087          0              180            0              84
  41  Lettuce         0.055          0.839          -2.063         0              90             0              90
  42  PepperShaker    -0.985         0.132          -0.158         0              0              0              67
  43  ButterKnife     -0.565         0.911          -1.709         0              0              0              80
  44  DishSponge      -0.053         0.695          0.222          0              180            0              79
  45  Vase            2.979          0.539          0.128          0              0              0              86
  46  Spoon           1.644          0.912          -2.183         0              0              0              80
  47  Tomato          -0.897         0.960          -1.929         0              0              0              80
  48  Mug             3.105          0.874          0.168          0              180            0              84
  49  Statue          -0.420         0.920          0.241          0              180            0              73
  50  Drawer          -0.819         0.75           -1.690         0              0              0
  51  Cabinet         -1.149         2.264          -0.838         0              90             0
  52  StoveBurner     -1.056         0.949          -0.671         0              180            0
  53  Cabinet         1.738          2.019          -2.000         0              0              0
  54  Cabinet         1.389          0.469          -1.059         0              0              0
  55  StoveBurner     -1.289         0.949          -0.755         0              180            0
  56  Faucet          -0.157         1.052          -2.196         0              270            0
  57  Cabinet         1.75           2.019          -1.029         0              0              0
  58  Cabinet         1.75           2.019          -1.399         0              0              0
  59  Cabinet         1.179          2.019          -2.0           0              0              0
  60  Cabinet         0.199          2.019          -2.0           0              0              0
  61  Cabinet         -1.100         2.019          -2.0           0              0              0
  62  Cabinet         -1.149         2.019          -1.979         0              0              0
  63  Cabinet         -1.149         2.019          -0.770         0              0              0
  64  Cabinet         -1.149         2.019          0.380          0              0              0
  65  Cabinet         -0.819         0.469          -1.689         0              0              0
  66  Cabinet         -0.839         0.469          -1.664         0              0              0
  67  Cabinet         -0.839         0.469          -0.049         0              0              0
  68  Cabinet         -0.414         0.370          -0.009         0              0              0
  69  Sink            -0.118         0.875          -2.009         0              0              0
  70  StoveBurner     -1.289         0.949          -1.019         0              0              0
  71  Cabinet         0.119          2.264          -2.0           0              0              0
  72  Cabinet         -0.459         2.264          -2.0           0              0              0
  73  CounterTop      -0.665         0.949          0.188          0              0              0
  74  Drawer          -0.449         0.75           -0.010         0              180            0
  75  Cabinet         -0.450         0.469          -0.009         0              0              0
  76  CounterTop      -0.630         1.167          0.573          0              0              0
  77  StoveBurner     -1.056         0.949          -1.126         0              0              0
  78  Cabinet         1.376          0.460          -1.685         0              0              0
  79  Drawer          -0.070         0.75           -0.009         0              180            0
  80  CounterTop      1.159          0.946          -2.013         0              0              0
  81  Cabinet         -1.150         2.264          -1.418         0              90             0
  82  HousePlant      -1.246         1.108          0.606          0              0              0
  83  GarbageCan      1.923          -0.010         0.137          0              0              0
  84  Shelf           2.759          0.880          0.144          0              0              0
  85  Microwave       1.827          0.900          -1.354         0              270            0
  86  Shelf           2.759          0.552          0.145          0              0              0
  87  Fridge          1.975          0.0            -0.537         0              0              0
  88  LightSwitch     0.404          1.297          2.0            0              180            0
  89  Shelf           2.760          0.172          0.145          0              0              0
  90  SinkBasin       -0.129         0.752          -2.007         0              0              0
  91  StoveKnob       -0.873         0.903          -0.827         45             90             0
  92  StoveKnob       -0.873         0.903          -0.676         45             90             0
  93  StoveKnob       -0.873         0.903          -0.966         45             90             0
  94  StoveKnob       -0.873         0.903          -1.123         45             90             0
  95  Toaster         0.840          0.900          -2.057         0              0              0
  96  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  97  ShelvingUnit    2.760          0.006          0.144          0              0              0
  98  Stool           -0.826         0.010          0.908          0              347.513        0
  99  Stool           -0.132         0.010          0.883          0              71.555         0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn left, go forward all the way, turn left to face the sink. | STEP 2: Take the knife at the edge of the counter. | STEP 3: Turn left, go forward, turn left, go forward, turn right after passing the fridge to face the blue bin. | STEP 4: Cut the apple in the blue bin into pieces. | STEP 5: Stay at the bin. | STEP 6: Take a piece of apple from the bin. | STEP 7: Turn right, go forward, turn left to face the microwave. | STEP 8: Cook the apple in the microwave. Take the apple from the microwave. | STEP 9: Turn right to face the counter with the toaster. | STEP 10: Put the apple in front of and to the left of the toaster. | END