Task: Put a cooked slice of apple on the table.

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          0.0            0              270            0
   1  Potato          0.008          0.793          -2.116         0              0              0              88
   2  Ladle           0.294          0.975          1.220          0              0              0              93
   3  DishSponge      0.522          0.930          0.534          0              0              0              93
   4  ButterKnife     0.180          0.922          0.076          2.396          0              0              93
   5  ButterKnife     -0.047         0.926          0.305          0              0              0              93
   6  WineBottle      1.653          1.660          -2.162         0              0              0              63
   7  WineBottle      1.915          0.087          0.121          0              0              0              77
   8  Spatula         2.009          0.928          -1.329         0              0              0              76
   9  Spatula         0.235          0.928          -1.725         0              0              0              76
  10  Spoon           0.294          0.928          0.762          0              0              0              93
  11  Egg             0.066          0.984          1.448          0              0              0              93
  12  Egg             0.180          0.980          1.448          0              0              0              93
  13  Plate           -1.316         1.663          -1.729         0              90             0              59
  14  Plate           0.066          0.934          0.534          0              0              0              93
  15  Knife           0.008          0.787          -2.026         0              0              0              88
  16  Knife           -0.356         0.787          -1.981         0              270            0              88
  17  Tomato          1.153          0.965          -1.751         0              0              0              76
  18  Tomato          1.738          0.965          -1.797         0              0              0              76
  19  SoapBottle      0.522          0.925          0.762          0              0              0              93
  20  SoapBottle      -1.313         2.146          -0.910         0              90             0              60
  21  Bowl            0.325          1.655          -2.125         0              0              0              65
  22  Bowl            -0.210         0.761          -2.071         0              0              0              88
  23  Lettuce         -0.160         1.011          0.305          0              0              0              93
  24  SaltShaker      1.950          1.654          -1.158         0              270            0              67
  25  SaltShaker      0.066          0.920          0.076          0              0              0              93
  26  PepperShaker    1.828          0.909          -1.680         0              0              0              76
  27  PepperShaker    1.670          0.549          2.638          0              0              0              102
  28  Bread           -0.047         0.972          0.991          0              0              0              93
  29  Mug             0.563          1.653          -2.125         0              0              0              65
  30  Mug             -1.495         1.178          -0.392         0              90             0              84
  31  Apple           0.294          1.001          0.991          0              0              0              93
  32  Apple           1.828          0.984          -1.563         0              0              0              76
  33  Apple           1.919          0.984          -1.797         0              0              0              76
  34  Apple           -1.036         0.984          -2.115         0              0              0              76
  35  Potato          -1.572         1.533          -0.599         0              90             0              84
  36  Bowl            -1.553         1.180          -0.703         0              270            0              84
  37  SoapBottle      0.066          0.925          0.762          0              0              0              93
  38  Fork            0.408          0.927          1.448          0              0              0              93
  39  Ladle           0.457          0.957          -2.085         0              0              0              76
  40  Bread           0.401          0.964          0.111          0              0              0              93
  41  Lettuce         0.294          1.011          0.534          0              0              0              93
  42  WineBottle      0.522          0.927          0.991          0              0              0              93
  43  Spatula         -0.346         0.928          -1.725         0              0              0              76
  44  Plate           1.738          0.916          -1.329         0              0              0              76
  45  SaltShaker      0.180          0.926          0.762          0              0              0              93
  46  Pot             -1.438         0.857          -0.910         0              180            0              84
  47  Cup             -1.343         2.147          -1.275         0              90             0              60
  48  PepperShaker    -0.160         0.923          0.534          0              0              0              93
  49  Pan             1.567          0.948          -0.355         0              0              0              72
  50  ButterKnife     1.557          0.913          -1.680         0              0              0              76
  51  Tomato          -1.380         1.235          -0.702         0              90             0              84
  52  DishSponge      -0.720         0.913          -2.233         0              0              0              76
  53  Egg             -1.219         1.069          -1.846         0              90             0              82
  54  Spoon           0.180          0.931          0.305          0              0              0              93
  55  Knife           0.002          0.936          -1.701         0              0              0              76
  56  Mug             1.261          0.951          -1.934         0              0              0              86
  57  StoveBurner     1.845          0.940          -0.355         0              0              0
  58  StoveBurner     1.567          0.940          -0.757         0              0              0
  59  Cabinet         -1.149         2.019          -1.979         0              90             0
  60  Cabinet         -1.149         2.265          -0.834         0              90             0
  61  Cabinet         -0.459         2.265          -2.0           0              0              0
  62  Cabinet         -1.100         2.019          -2.0           0              0              0
  63  Cabinet         1.719          2.019          -2.0           0              0              0
  64  Cabinet         1.179          2.019          -2.0           0              0              0
  65  Cabinet         0.199          2.019          -2.0           0              0              0
  66  Cabinet         1.75           2.019          -1.399         0              270            0
  67  Cabinet         1.75           2.019          -1.029         0              270            0
  68  Cabinet         1.379          0.469          -1.689         0              0              0
  69  Cabinet         -0.819         0.469          -1.689         0              0              0
  70  Cabinet         1.389          0.469          -1.059         0              270            0
  71  Cabinet         -0.839         0.469          -1.665         0              90             0
  72  StoveBurner     1.567          0.940          -0.355         0              0              0
  73  StoveBurner     1.845          0.940          -0.757         0              0              0
  74  Sink            -0.109         0.893          -2.009         0              0              0
  75  Drawer          -0.819         0.75           -1.690         0              0              0
  76  CounterTop      0.232          0.949          -2.002         0              0              0
  77  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  78  Vase            0.251          0.546          0.475          0              270            0
  79  Toaster         0.780          0.900          -2.080         0              0              0
  80  LightSwitch     0.108          1.315          2.75           0              180            0
  81  Vase            0.400          0.925          0.218          0              180            0
  82  Microwave       -1.233         0.900          -1.680         0              90             0
  83  Vase            1.465          1.662          -2.200         0              0              0
  84  Fridge          -1.495         0.0            -0.703         0              0              0
  85  Window          2.114          1.495          1.072          90             270            0
  86  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  87  Vase            0.333          0.546          1.272          0              270            0
  88  SinkBasin       -0.148         0.753          -2.026         0              0              0
  89  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  90  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  91  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  92  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  93  DiningTable     0.170          0.005          0.678          0              270            0
  94  Shelf           0.170          0.155          0.678          0              270            0
  95  Shelf           1.605          0.172          2.480          0              0              0
  96  Shelf           1.605          0.552          2.480          0              0              0
  97  Shelf           1.604          0.880          2.479          0              0              0
  98  ShelvingUnit    1.605          0.006          2.480          0              0              0
  99  Faucet          -0.143         1.028          -2.223         0              270            0
 100  Stool           -0.553         0.000          0.871          1.233          280.376        0
 101  Shelf           0.170          0.528          0.678          0              270            0
 102
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn left and head to the sink. | STEP 2: Pick up the knife on the right side of the sink. | STEP 3: Turn completely around and go to the microwave. | STEP 4: Cut the apple on the counter. | STEP 5: Turn towards the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Go back to the counter with the sliced apple. | STEP 8: Pick up a slice of apple. | STEP 9: Go back to the microwave. | STEP 10: Put the slice of apple in the microwave, cook the apple and pick it back up. | STEP 11: Turn right, go halfway across the room and turn right toward the table. | STEP 12: Put the slice of apple on the table to the right of the bread. | END