Task: Slice apple, put knife in cabinet, place pan with apple slice on table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          7.0            0              90             0
   1  Potato          -0.384         1.027          0.578          0              0              0              56
   2  DishSponge      1.238          0.140          2.159          0              0              0              68
   3  ButterKnife     0.305          0.760          6.541          0              270            0              92
   4  ButterKnife     0.668          0.772          0.563          0              0              0              48
   5  Kettle          1.314          0.993          3.044          0              0              0              56
   6  Pot             1.317          0.988          4.294          0              0              0              51
   7  Pot             1.562          0.988          3.848          0              0              0              50
   8  Spoon           0.192          0.773          0.451          0              0              0              53
   9  Spatula         -0.224         0.775          6.633          0              45             0              92
  10  Spatula         1.671          1.007          0.213          0              0              0              56
  11  Egg             0.168          1.135          0.278          0              0              0              72
  12  Egg             1.857          0.130          6.439          0              0              0              80
  13  Cup             0.332          0.140          0.658          0              0              0              65
  14  Tomato          -0.399         0.809          6.895          0              135            0              92
  15  SoapBottle      1.573          0.140          2.159          0              0              0              68
  16  Bowl            1.543          1.576          1.227          0              0              0              66
  17  PepperShaker    0.897          1.574          0.163          0              0              0              70
  18  Lettuce         2.051          1.604          6.001          0              270            0              78
  19  Mug             -0.028         0.755          6.786          0              225            0              92
  20  Mug             -0.621         0.755          6.604          0              270            0              92
  21  Bowl            0.815          0.142          0.497          0              0              0              62
  22  Bread           1.099          1.048          0.434          0              0              0              56
  23  Egg             1.135          1.042          4.853          0              0              0              57
  24  Knife           -0.158         0.789          6.541          0              0              0              92
  25  Fork            0.328          0.772          0.618          0              270            0              53
  26  Apple           -0.138         0.834          6.282          0              135            0              92
  27  Kettle          1.593          0.981          3.25           0              255.000        0              56
  28  Plate           1.406          0.141          3.439          0              0              0              67
  29  SaltShaker      0.167          0.755          6.151          0              135            0              92
  30  Lettuce         0.150          0.848          6.479          0              270            0              92
  31  SoapBottle      -0.014         0.144          0.429          0              0              0              65
  32  Spatula         -0.413         0.786          0.395          0              90             0              52
  33  PaperTowelRoll  2.055          0.185          6.439          0              0              0              80
  34  Pot             1.559          0.988          4.294          0              0              0              54
  35  Potato          0.036          0.794          6.940          0              225            0              92
  36  ButterKnife     -0.442         0.760          6.107          0              225            0              92
  37  PepperShaker    -0.621         0.755          6.479          0              270            0              92
  38  Pan             1.313          0.985          4.284          0              0              0              51
  39  Tomato          2.051          1.565          5.251          0              270            0              78
  40  DishSponge      1.225          0.992          0.668          0              0              0              56
  41  Cup             -0.136         0.756          6.721          0              135            0              92
  42  Spoon           -0.029         0.761          6.172          0              135            0              92
  43  Mug             1.384          1.043          0.847          0              270            0              56
  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 around, go to round black dining table | STEP 2: pick up yellow handle knife to the right of plant on table | STEP 3: go to yellow apple on round black dining table | STEP 4: slice apple on table | STEP 5: turn right, go to lower end cabinet to the right of refrigerator | STEP 6: open lower cabinet door, place knife in cabinet, close cabinet | STEP 7: turn around, go to black round dining table with apple | STEP 8: pick up apple slice from table | STEP 9: turn around, go to stove to the left | STEP 10: place apple slice in pan on front left burner of stove | STEP 11: pick up pan with apple slice from stove | STEP 12: turn around, go to black round dining table | STEP 13: place pan with apple slice on table  | END