Task: Slice an apple, grab a slice put it in the pan

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          -2.25          0              180            0
   1  Potato          -3.565         0.926          -0.119         0              270            0              77
   2  Potato          -3.949         0.792          -3.696         0              199.125        0              76
   3  DishSponge      -0.096         1.502          -2.876         0              0              0              40
   4  ButterKnife     -4.122         0.691          -0.491         0              0              0              75
   5  Pot             -3.230         0.761          -3.061         0              244.125        0              76
   6  Fork            -3.954         0.760          -3.337         0              109.125        0              76
   7  Spoon           -4.002         0.691          -0.248         0              180            0              75
   8  Spoon           -3.942         0.691          -0.126         0              0              0              75
   9  Spatula         -0.475         0.765          -2.846         0              90             0              45
  10  Egg             -0.376         1.327          -0.645         0              270            0              70
  11  Egg             -0.490         0.854          -3.260         0              315            0              69
  12  SoapBottle      -4.182         0.689          -0.430         0              0              0              75
  13  SoapBottle      -3.163         0.892          -0.548         0              270            0              77
  14  Tomato          -2.354         0.150          -3.538         0              0              0              65
  15  Tomato          -0.376         1.337          -0.529         0              270            0              70
  16  Bowl            -0.376         1.284          -0.297         0              270            0              70
  17  Apple           -4.122         0.751          -0.126         0              0              0              75
  18  Apple           -4.062         0.752          -0.248         0              0              0              75
  19  SoapBottle      -3.370         0.758          -3.539         0              109.125        0              76
  20  Pot             -0.437         0.961          -1.845         0              180            0              41
  21  Fork            -3.637         0.760          -2.987         0              199.125        0              76
  22  Cup             -0.283         1.489          -0.994         0              270            0              70
  23  Tomato          -0.397         0.993          -2.788         0              0              0              40
  24  Pan             -3.364         0.892          -0.376         0              0              0              77
  25  Plate           -3.811         0.774          -3.070         0              334.125        0              76
  26  Bread           -1.471         1.023          -3.673         0              0              0              40
  27  Spatula         -3.565         0.909          -0.290         0              270            0              77
  28  Knife           -2.359         0.920          -0.204         0              270            0              77
  29  SaltShaker      -4.062         0.686          -0.430         0              0              0              75
  30  PepperShaker    -0.351         0.938          -3.022         0              45             0              40
  31  ButterKnife     -0.473         0.941          -1.538         0              0              0              58
  32  Apple           -0.359         1.550          -0.529         0              270            0              70
  33  DishSponge      -4.242         0.690          -0.308         0              0              0              75
  34  Potato          -0.283         1.520          -0.762         0              270            0              70
  35  Egg             -0.701         0.854          -3.627         0              315            0              69
  36  Spoon           -1.154         0.754          -3.505         0              0              0              46
  37  Lettuce         -2.560         0.985          -0.548         0              270            0              77
  38  Mug             -2.514         0.972          -3.649         0              0              0              66
  39  Bowl            -0.321         1.487          -0.297         0              270            0              70
  40  CounterTop      -1.937         0.977          -3.673         0              0              0
  41  StoveBurner     -0.437         0.924          -1.845         0              180            0
  42  StoveBurner     -0.222         0.924          -1.845         0              180            0
  43  StoveBurner     -0.437         0.924          -2.243         0              0              0
  44  Drawer          -0.500         0.779          -1.450         0              0              0
  45  Drawer          -0.481         0.777          -2.739         0              0              0
  46  Drawer          -1.154         0.782          -3.499         0              0              0
  47  Cabinet         -0.337         2.110          -0.390         0              0              0
  48  Cabinet         -0.337         2.110          -1.272         0              0              0
  49  Cabinet         -0.337         2.110          -1.631         0              0              0
  50  Cabinet         -0.337         2.110          -2.497         0              0              0
  51  Cabinet         -0.337         1.891          -1.286         0              0              0
  52  Cabinet         -0.346         1.891          -3.293         0              0              0
  53  Cabinet         -0.629         0.388          -2.513         0              0              0
  54  Cabinet         -0.633         0.388          -3.008         0              0              0
  55  Cabinet         -1.010         0.388          -3.368         0              0              0
  56  Cabinet         -0.629         0.388          -1.614         0              0              0
  57  Cabinet         -0.327         1.886          -2.513         0              0              0
  58  CounterTop      -0.326         0.976          -1.450         0              0              0
  59  StoveBurner     -0.222         0.924          -2.243         0              0              0
  60  Sink            -0.600         0.929          -3.388         0              0              0
  61  StoveKnob       -0.617         0.899          -1.833         315            90             180
  62  StoveKnob       -0.617         0.899          -2.129         315            90             180
  63  StoveKnob       -0.617         0.899          -2.289         315            90             180
  64  StoveKnob       -0.617         0.899          -1.975         315            90             180
  65  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  66  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  67  Window          -1.389         1.610          -4.113         90             0              0
  68  LightSwitch     -4.372         1.493          -1.031         0              90             0
  69  SinkBasin       -0.614         0.802          -3.384         0              315            0
  70  Fridge          -0.314         0.0            -0.646         0              0              0
  71  Toaster         -1.970         0.930          -3.763         0              0              0
  72  Microwave       -0.216         1.470          -2.054         0              270            0
  73  Blinds          -1.373         2.205          -3.961         0              0              0
  74  Faucet          -0.393         0.930          -3.614         270            225            0
  75  SideTable       -4.030         0.002          -0.301         0              185.034        0
  76  DiningTable     -3.586         0.000          -3.258         0              0              0
  77  DiningTable     -3.224         -0.003         -0.453         0              0              0
  78  Shelf           -4.030         0.259          -0.301         0              185.034        0
  79  Shelf           -4.030         0.489          -0.301         0              185.034        0
  80  EastWall
  81  EastWall
  82  SouthWall

Plan:
STEP 1: Walk towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the coffee machine | STEP 4: Cut the apple on the bottom of the counter | STEP 5: Walk towards the table and come back to the counter | STEP 6: Slice the apple on the bottom of the counter | STEP 7: Walk away and come back to the counter | STEP 8: Grab a slice of the apple | STEP 9: Walk with the slice of the apple towards the white table | STEP 10: Put the slice of the apple on the pan  | STEP 11: Take the pan from the counter | STEP 12: Walk with the pan towards the stove counter | STEP 13: Put the pan next to the stove on the counter | END