Task: Put a slice of apple on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.900          -2.0           0              270            0
   1  Pan             -0.334         1.284          -0.878         0              180            0              69
   2  Potato          -0.321         0.974          -2.993         0              45             0              39
   3  Potato          -2.585         0.974          -3.439         0              0              0              39
   4  DishSponge      -0.440         0.751          -2.792         0              0              0              44
   5  ButterKnife     -2.962         0.894          -0.462         0              270            0              76
   6  ButterKnife     -0.157         0.941          -1.494         0              0              0              57
   7  Egg             -0.244         0.983          -2.847         0              0              0              39
   8  Plate           -0.201         1.589          -1.937         0              270            0              71
   9  Plate           -3.870         0.774          -3.511         0              244.125        0              75
  10  Knife           -2.962         0.920          -0.290         0              180            0              76
  11  Knife           -1.471         0.967          -3.595         0              0              0              39
  12  SoapBottle      -2.560         0.892          -0.376         0              270            0              76
  13  SoapBottle      -4.242         0.689          -0.248         0              0              0              74
  14  Bowl            -0.252         1.284          -0.413         0              270            0              69
  15  Bowl            -3.364         0.892          -0.376         0              270            0              76
  16  Bread           -3.364         0.976          -0.548         0              270            0              76
  17  Bread           -4.002         0.772          -0.369         0              0              0              74
  18  SoapBottle      -3.609         0.758          -3.487         0              334.125        0              75
  19  Pot             -0.222         0.961          -1.845         0              180            0              41
  20  Fork            -4.182         0.691          -0.248         0              180            0              74
  21  Cup             -3.766         0.760          -2.877         0              334.125        0              75
  22  Tomato          -0.245         1.539          -0.762         0              270            0              69
  23  Pan             -0.222         0.961          -2.243         0              0              0              58
  24  Plate           -0.359         1.502          -0.529         0              270            0              69
  25  Bread           -3.396         0.841          -3.073         0              244.125        0              75
  26  Spatula         -3.934         0.775          -3.278         0              109.125        0              75
  27  Knife           -0.078         0.966          -1.494         0              90             0              57
  28  SaltShaker      -2.560         0.890          -0.290         0              270            0              76
  29  PepperShaker    -3.142         0.756          -3.354         0              109.125        0              75
  30  ButterKnife     -2.761         0.894          -0.462         0              270            0              76
  31  Apple           -2.485         0.161          -3.472         0              0              0              64
  32  DishSponge      -0.682         0.813          -3.531         0              315            0              68
  33  Potato          -3.882         0.722          -0.126         0              0              0              74
  34  Egg             -1.694         0.983          -3.829         0              0              0              39
  35  Spoon           -0.397         0.943          -2.670         0              0              0              39
  36  Lettuce         -3.426         0.851          -3.365         0              244.125        0              75
  37  Mug             -0.702         0.808          -3.395         0              135            0              68
  38  Bowl            -3.163         0.892          -0.290         0              270            0              76
  39  CounterTop      -1.937         0.977          -3.673         0              0              0
  40  StoveBurner     -0.437         0.924          -1.845         0              180            0
  41  StoveBurner     -0.222         0.924          -1.845         0              180            0
  42  StoveBurner     -0.437         0.924          -2.243         0              0              0
  43  Drawer          -0.500         0.779          -1.450         0              0              0
  44  Drawer          -0.481         0.777          -2.739         0              0              0
  45  Drawer          -1.154         0.782          -3.499         0              0              0
  46  Cabinet         -0.337         2.110          -0.390         0              0              0
  47  Cabinet         -0.337         2.110          -1.272         0              0              0
  48  Cabinet         -0.337         2.110          -1.631         0              0              0
  49  Cabinet         -0.337         2.110          -2.497         0              0              0
  50  Cabinet         -0.337         1.891          -1.286         0              0              0
  51  Cabinet         -0.346         1.891          -3.293         0              0              0
  52  Cabinet         -0.629         0.388          -2.513         0              0              0
  53  Cabinet         -0.633         0.388          -3.008         0              0              0
  54  Cabinet         -1.010         0.388          -3.368         0              0              0
  55  Cabinet         -0.629         0.388          -1.614         0              0              0
  56  Cabinet         -0.327         1.886          -2.513         0              0              0
  57  CounterTop      -0.326         0.976          -1.450         0              0              0
  58  StoveBurner     -0.222         0.924          -2.243         0              0              0
  59  Sink            -0.600         0.929          -3.388         0              0              0
  60  StoveKnob       -0.617         0.899          -1.833         315            90             180
  61  StoveKnob       -0.617         0.899          -2.129         315            90             180
  62  StoveKnob       -0.617         0.899          -2.289         315            90             180
  63  StoveKnob       -0.617         0.899          -1.975         315            90             180
  64  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  65  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  66  Window          -1.389         1.610          -4.113         90             0              0
  67  LightSwitch     -4.372         1.493          -1.031         0              90             0
  68  SinkBasin       -0.614         0.802          -3.384         0              315            0
  69  Fridge          -0.314         0.0            -0.646         0              0              0
  70  Toaster         -1.970         0.930          -3.763         0              0              0
  71  Microwave       -0.216         1.470          -2.054         0              270            0
  72  Blinds          -1.373         2.205          -3.961         0              0              0
  73  Faucet          -0.393         0.930          -3.614         270            225            0
  74  SideTable       -4.030         0.002          -0.301         0              185.034        0
  75  DiningTable     -3.586         0.000          -3.258         0              0              0
  76  DiningTable     -3.224         -0.003         -0.453         0              0              0
  77  Shelf           -4.030         0.259          -0.301         0              185.034        0
  78  Shelf           -4.030         0.489          -0.301         0              185.034        0
  79  EastWall
  80  EastWall
  81  SouthWall

Plan:
STEP 1: Turn around and face the counter to the left of the stove. | STEP 2: Pick the butter knife up from the counter. | STEP 3: Turn around and walk to the counter with a coffee maker on it. | STEP 4: Slice the apple in the trash can. | STEP 5: Put the knife in the trash can. | STEP 6: Pick up a slice of apple. | STEP 7: Go left and turn to stand in front of the microwave. | STEP 8: Put the apple in the microwave and then remove it after cooking. | STEP 9: Cross the room and turn to the right to face the small black table. | STEP 10: Put the apple on the table. | END