Task: Put an apple on a plate 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           -1.75          0.901          -1.0           0              270            0
   1  Potato          -3.182         1.057          -1.941         0              90             0              89
   2  ButterKnife     -1.845         0.790          -3.747         0              0              0              90
   3  Spatula         -2.439         0.731          -0.371         0              270            0              92
   4  Spoon           -0.419         0.917          -1.555         0              0              0              75
   5  Fork            -0.257         0.916          -1.493         0              0              0              75
   6  Egg             -0.220         1.048          -0.851         0              270            0              85
   7  Egg             -3.123         0.749          -0.841         0              225            0              92
   8  Cup             -2.581         0.717          -0.558         0              270            0              92
   9  Cup             -0.095         0.916          -1.616         0              0              0              75
  10  Plate           -0.380         1.295          -3.702         0              45             0              68
  11  Knife           -2.740         0.746          -0.353         0              90             0              92
  12  Knife           0.007          0.946          -3.213         0              90             0              48
  13  Tomato          -3.027         0.690          -2.064         0              90             0              89
  14  Tomato          -1.914         0.840          -3.790         0              0              0              90
  15  SoapBottle      -3.007         0.713          -0.621         0              180            0              92
  16  SoapBottle      -0.223         0.079          0.055          0              270            0              87
  17  SaltShaker      -2.990         0.713          -0.922         0              0              0              92
  18  PepperShaker    -3.010         0.713          -0.552         0              225            0              92
  19  PepperShaker    -0.412         0.742          -1.486         0              0              0              71
  20  Lettuce         -3.182         1.486          -1.941         0              180            0              89
  21  Lettuce         -2.877         0.804          -0.684         0              225            0              92
  22  Bread           -0.244         0.954          -3.112         0              0              0              48
  23  Mug             -0.373         0.077          -3.348         0              0              0              49
  24  Mug             -0.500         0.911          -1.432         0              0              0              75
  25  Apple           -2.733         0.756          -0.628         0              225            0              92
  26  Apple           -3.292         0.759          -0.370         0              270            0              92
  27  Pot             -0.376         0.975          -2.031         0              180            0              77
  28  Egg             -0.253         0.115          -0.157         0              270            0              87
  29  Cup             -1.058         0.914          -3.655         0              0              0              48
  30  Bread           -0.327         0.948          -3.681         0              298.222        0              48
  31  Fork            -0.412         0.914          -3.012         0              0              0              48
  32  Pan             -0.394         0.973          -2.414         0              0              0              73
  33  Potato          -2.808         0.957          -3.729         0              0              0              48
  34  Lettuce         -3.393         1.001          -3.327         0              270            0              48
  35  Tomato          -3.182         1.063          -2.125         0              90             0              89
  36  Apple           -3.182         1.441          -2.125         0              90             0              89
  37  SoapBottle      -0.163         1.296          -3.653         0              45             0              68
  38  Spatula         -3.199         0.731          -0.564         0              315            0              92
  39  SaltShaker      -3.167         0.710          -0.797         0              225            0              92
  40  Knife           -3.309         0.946          -2.926         0              0              0              48
  41  PepperShaker    -3.225         0.910          -2.926         0              0              0              48
  42  ButterKnife     -0.419         0.916          -0.524         0              0              0              75
  43  Plate           -0.447         0.911          -3.878         0              0              0              48
  44  DishSponge      -0.412         0.746          -2.913         0              0              0              78
  45  Spoon           -0.039         0.914          -3.878         0              0              0              48
  46  Mug             -3.079         1.393          -2.125         0              90             0              89
  47  Bowl            -0.936         1.290          -3.888         0              0              0              62
  48  CounterTop      -1.789         0.949          -3.803         0              0              0
  49  Cabinet         -0.577         0.388          -3.476         0              0              0
  50  Cabinet         -0.605         0.388          -3.511         0              0              0
  51  Cabinet         -2.976         0.388          -3.201         0              0              0
  52  Cabinet         -0.577         0.388          -0.447         0              0              0
  53  Cabinet         -0.577         0.388          -1.725         0              0              0
  54  Cabinet         -0.226         1.803          -1.743         0              0              0
  55  Cabinet         -0.228         1.799          -0.447         0              0              0
  56  Cabinet         -6.010         1.139          -6.019         0              0              0
  57  Cabinet         -3.022         2.098          -2.681         0              0              0
  58  Cabinet         -3.022         2.098          -1.743         0              0              0
  59  Cabinet         -0.577         0.388          -2.736         0              0              0
  60  Cabinet         -3.232         1.803          -3.343         0              0              0
  61  Cabinet         -2.811         1.810          -3.764         0              0              0
  62  Cabinet         -1.233         1.810          -3.764         0              0              0
  63  Cabinet         -1.364         0.388          -3.511         0              0              0
  64  Cabinet         -1.380         0.388          -3.511         0              0              0
  65  Cabinet         -0.226         1.803          -2.725         0              0              0
  66  Cabinet         -0.236         2.098          -1.767         0              0              0
  67  Cabinet         -0.236         2.098          -2.705         0              0              0
  68  Cabinet         -0.193         1.210          -4.239         0              0              0
  69  Cabinet         -2.148         0.388          -3.511         0              0              0
  70  Drawer          -3.104         0.797          -2.968         0              0              0
  71  Drawer          -0.449         0.797          -1.410         0              0              0
  72  Sink            -1.786         0.902          -3.748         0              0              0
  73  StoveBurner     -0.376         0.936          -2.451         0              0              0
  74  Drawer          -0.449         0.797          -0.762         0              0              0
  75  CounterTop      -0.268         0.951          -1.089         0              0              0
  76  Drawer          -0.449         0.797          -3.348         0              0              0
  77  StoveBurner     -0.376         0.936          -2.031         0              180            0
  78  Drawer          -0.449         0.797          -2.968         0              0              0
  79  StoveBurner     -0.165         0.936          -2.030         0              180            0
  80  StoveBurner     -0.165         0.936          -2.450         0              0              0
  81  StoveKnob       -0.568         0.903          -2.313         45             270            0
  82  StoveKnob       -0.568         0.903          -2.470         45             270            0
  83  StoveKnob       -0.568         0.903          -2.166         45             270            0
  84  StoveKnob       -0.568         0.903          -2.003         45             270            0
  85  Microwave       -0.143         0.903          -0.908         0              270            0
  86  LightSwitch     -1.108         1.457          0.338          0              180            0
  87  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  88  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  89  Fridge          -3.188         0.0            -2.184         0              0              0
  90  SinkBasin       -1.786         0.779          -3.747         0              0              0
  91  Toaster         -0.230         0.903          -3.406         0              270            0
  92  DiningTable     -2.800         0.003          -0.505         0              0              0
  93  Chair           -3.044         0.003          -1.223         0              32.194         0
  94  Faucet          -1.791         1.136          -3.913         0              270            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Move over to the right and turn left to face the table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn left and go to the other side of the table. | STEP 4: Cut the apple on the table beside the coffee maker. | STEP 5: Move right and turn left to face the table. | STEP 6: Put the knife on the table to the right of the salt. | STEP 7: Move back to the left and turn right towards the table. | STEP 8: Pick up a slice of apple on the table. | STEP 9: Turn right, go across the room, turn right and go across the room to the counter. | STEP 10: Put the apple on the plate. | STEP 11: Pick up the plate with the apple on it. | STEP 12: Turn around and head back to the table. | STEP 13: Put the plate on the table to the right of the knife. | END