Task: Put a pan with apple and a knife in it 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           -1.75          0.900          7.0            0              270            0
   1  Pan             1.559          0.988          4.294          0              0              0              57
   2  Potato          -0.096         0.794          6.169          0              0              0              95
   3  Potato          1.403          1.027          3.324          0              0              0              59
   4  DishSponge      -0.549         0.771          0.395          0              0              0              55
   5  ButterKnife     -0.421         0.760          6.305          0              225            0              95
   6  Kettle          -0.288         0.761          6.172          0              225            0              95
   7  Spoon           0.192          0.772          0.618          0              0              0              56
   8  Spoon           0.803          0.773          0.395          0              0              0              51
   9  Spatula         -0.072         0.775          6.830          0              315            0              95
  10  Spatula         -0.685         0.787          0.620          0              270            0              55
  11  Fork            -0.621         0.760          6.541          0              270            0              95
  12  Egg             0.168          1.135          0.278          0              0              0              75
  13  Cup             0.501          1.575          0.163          0              0              0              73
  14  Plate           1.019          1.580          0.251          0              0              0              66
  15  Knife           0.871          0.802          0.563          0              270            0              51
  16  Knife           -0.413         0.802          0.507          0              0              0              55
  17  Bowl            1.322          0.139          1.864          0              0              0              48
  18  PepperShaker    1.135          0.987          4.624          0              0              0              60
  19  SaltShaker      0.028          0.755          6.787          0              0              0              95
  20  SaltShaker      -0.531         0.755          6.763          0              135            0              95
  21  Lettuce         0.150          0.848          6.479          0              270            0              95
  22  Lettuce         -0.459         1.081          0.303          0              90             0              59
  23  Apple           2.009          1.590          5.626          0              270            0              81
  24  Bowl            1.543          1.576          1.288          0              0              0              69
  25  Bread           1.099          1.048          0.434          0              0              0              59
  26  Egg             1.924          1.565          6.001          0              270            0              81
  27  Knife           0.124          0.801          0.563          0              270            0              56
  28  Fork            0.600          0.772          0.619          0              270            0              51
  29  Apple           -0.291         0.834          6.612          0              225            0              95
  30  Kettle          1.32           0.988          3.848          0              0              0              58
  31  Plate           0.815          0.144          0.576          0              0              0              65
  32  SaltShaker      1.238          0.135          2.867          0              0              0              71
  33  Lettuce         0.257          0.848          6.719          0              225            0              95
  34  SoapBottle      1.585          2.207          4.262          0              180            0              47
  35  Spatula         -0.308         1.007          0.120          0              90             0              59
  36  PaperTowelRoll  1.582          1.096          3.137          0              0              0              59
  37  Pot             0.734          0.981          0.38           0              0              0              59
  38  Potato          0.620          1.027          0.578          0              0              0              59
  39  ButterKnife     0.305          0.760          6.541          0              270            0              95
  40  PepperShaker    1.490          0.135          3.365          0              0              0              70
  41  Pan             1.562          0.988          3.848          0              0              0              53
  42  Tomato          1.497          0.940          2.474          0              90             0              82
  43  DishSponge      1.497          0.890          2.137          0              90             0              82
  44  Cup             1.228          0.137          4.647          0              0              0              61
  45  Spoon           0.847          0.993          0.395          0              180            0              59
  46  Mug             1.384          1.043          0.847          0              270            0              59
  47  Cabinet         1.307          2.455          4.360          0              0              0
  48  Cabinet         1.054          0.422          1.710          0              0              0
  49  Drawer          1.280          0.808          4.718          0              0              0
  50  Cabinet         1.307          2.455          3.607          0              0              0
  51  Drawer          0.736          0.802          0.521          0              0              0
  52  Drawer          1.276          0.802          3.291          0              0              0
  53  StoveBurner     1.562          0.982          3.848          0              0              0
  54  StoveBurner     1.317          0.982          4.294          0              0              0
  55  Drawer          -0.482         0.802          0.521          0              0              0
  56  Drawer          0.124          0.802          0.521          0              0              0
  57  StoveBurner     1.559          0.982          4.294          0              0              0
  58  StoveBurner     1.320          0.982          3.848          0              0              0
  59  CounterTop      1.391          1.028          0.897          0              0              0
  60  CounterTop      1.391          1.028          4.716          0              0              0
  61  Cabinet         1.054          0.422          4.548          0              0              0
  62  Cabinet         1.317          2.134          0.517          0              0              0
  63  Cabinet         1.317          2.134          4.889          0              0              0
  64  Cabinet         1.317          2.134          3.095          0              0              0
  65  Cabinet         0.443          0.422          0.743          0              0              0
  66  Cabinet         1.270          2.134          0.434          0              0              0
  67  Cabinet         -0.775         0.422          0.743          0              0              0
  68  Cabinet         -0.168         0.422          0.743          0              0              0
  69  Cabinet         1.317          2.134          1.534          0              0              0
  70  Cabinet         1.054          0.422          2.990          0              0              0
  71  Cabinet         1.054          0.422          2.944          0              0              0
  72  Cabinet         -0.263         2.134          0.434          0              0              0
  73  Cabinet         0.252          2.134          0.434          0              0              0
  74  Sink            1.391          1.006          2.326          0              0              0
  75  Microwave       0.108          0.981          0.262          0              0              0
  76  HousePlant      -0.165         0.826          6.444          0              0              0
  77  CoffeeMachine   1.551          0.982          0.953          0              270            0
  78  Toaster         1.473          0.981          4.715          0              270            0
  79  Window          -2.065         1.916          3.626          90             90             0
  80  Window          1.763          2.007          2.299          90             270            0
  81  Fridge          2.035          0.0            5.625          0              0              0
  82  SinkBasin       1.387          0.880          2.338          0              90             0
  83  GarbageCan      2.001          -0.044         6.503          0              0              0
  84  StoveKnob       1.140          0.934          3.987          45             270            0
  85  StoveKnob       1.140          0.934          4.309          45             270            0
  86  StoveKnob       1.140          0.934          4.140          45             270            0
  87  StoveKnob       1.140          0.934          3.824          45             270            0
  88  Vase            -0.226         0.834          6.993          0              0              0
  89  Vase            2.098          0.043          7.070          0              257.232        0
  90  Vase            -0.594         0.835          6.130          0              225            0
  91  LightSwitch     -2.0           1.549          6.045          0              90             0
  92  Safe            2.046          1.072          7.054          0              257.232        0
  93  Faucet          1.534          1.025          2.371          0              294.391        0
  94  Blinds          1.738          2.563          2.312          0              90             0
  95  DiningTable     -0.156         0.000          6.474          0              0              0
  96  Chair           0.291          0.002          6.142          0              310.162        0
  97  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn to the left, go forward, turn to the left and go across the room to the other side of the black dining table where the lettuce is. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around, go to the right to the fridge.  | STEP 4: Open the fridge, cut the apple inside the fridge into pieces. | STEP 5: Turn around, head left to the stove on the left.  | STEP 6: Put the knife into the pan on the back left stove burner. | STEP 7: Pick up the pan containing the knife from the stove. | STEP 8: Turn to the left, go to the right side of the dining table where the lettuce is.  | STEP 9: Put the pan down on the table to the left of the lettuce. | STEP 10: Turn around, go to the right to the fridge that is on the left.  | STEP 11: Take a piece of the apple out of the fridge.  | STEP 12: Go to the left to the dining table where the pan is. | STEP 13: Put the piece of apple into the pan with the knife in it that is on the table. | END