Task: Cut up an apple and place it 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           -2.5           0.901          -2.0           0              270            0
   1  DishSponge      -2.797         0.713          -0.829         0              135            0              89
   2  Spatula         -0.412         0.761          -2.858         0              270            0              75
   3  Spatula         -2.270         0.928          -3.952         0              90             0              45
   4  Spoon           -2.439         0.718          -0.558         0              270            0              89
   5  Fork            -3.140         0.747          -2.857         0              270            0              67
   6  Egg             -1.569         0.826          -3.832         0              0              0              87
   7  Egg             -1.983         0.826          -3.704         0              0              0              87
   8  Cup             -3.027         1.399          -1.879         0              90             0              86
   9  Cup             -0.335         0.080          -0.760         0              0              0              49
  10  Plate           -3.176         1.866          -2.450         0              0              0              54
  11  Plate           -1.058         0.911          -3.655         0              0              0              45
  12  Tomato          -3.027         1.063          -2.064         0              90             0              86
  13  Tomato          -3.182         0.690          -2.002         0              90             0              86
  14  SoapBottle      -2.664         0.713          -0.294         0              225            0              89
  15  SoapBottle      -1.477         0.082          -3.751         0              0              0              61
  16  SaltShaker      -0.244         0.910          -3.213         0              0              0              45
  17  SaltShaker      -1.115         0.076          -3.635         0              0              0              60
  18  PepperShaker    -0.068         1.290          -1.201         0              0              0              51
  19  Lettuce         -2.608         0.801          -0.841         0              135            0              89
  20  Lettuce         -2.740         0.801          -0.638         0              0              0              89
  21  Mug             -3.127         1.863          -1.811         0              270            0              86
  22  Apple           -3.150         0.756          -0.495         0              270            0              89
  23  Apple           -0.412         0.956          -3.012         0              0              0              45
  24  Pot             -0.165         0.975          -2.030         0              180            0              76
  25  Egg             -2.581         0.752          -0.621         0              270            0              89
  26  Cup             -2.721         0.714          -0.439         0              225            0              89
  27  Bread           -0.176         0.956          -1.493         0              0              0              72
  28  Fork            -2.928         0.717          -0.780         0              0              0              89
  29  Pan             -0.394         0.973          -2.414         0              0              0              70
  30  Potato          -0.158         1.056          -0.950         0              270            0              82
  31  Lettuce         -3.130         1.486          -2.064         0              90             0              86
  32  Tomato          -2.581         0.763          -0.496         0              270            0              89
  33  Apple           -0.065         1.055          -0.950         0              270            0              82
  34  SoapBottle      -3.393         0.913          -3.227         0              0              0              45
  35  Spatula         -1.776         0.805          -3.832         0              90             0              87
  36  SaltShaker      -3.053         0.742          -2.802         0              0              0              67
  37  Knife           -0.338         0.948          -1.616         0              0              0              72
  38  PepperShaker    -2.865         0.713          -0.683         0              270            0              89
  39  ButterKnife     -3.225         0.913          -3.428         0              0              0              45
  40  Plate           -0.076         0.911          -3.012         0              0              0              45
  41  DishSponge      -0.472         0.746          -3.376         0              0              0              73
  42  Spoon           -0.176         0.917          -1.370         0              0              0              72
  43  Mug             -2.930         0.762          -0.358         0              135            0              85
  44  Bowl            -0.650         0.911          -3.804         0              0              0              45
  45  CounterTop      -1.789         0.949          -3.803         0              0              0
  46  Cabinet         -0.577         0.388          -3.476         0              0              0
  47  Cabinet         -0.605         0.388          -3.511         0              0              0
  48  Cabinet         -2.976         0.388          -3.201         0              0              0
  49  Cabinet         -0.577         0.388          -0.447         0              0              0
  50  Cabinet         -0.577         0.388          -1.725         0              0              0
  51  Cabinet         -0.226         1.803          -1.743         0              0              0
  52  Cabinet         -0.228         1.799          -0.447         0              0              0
  53  Cabinet         -6.010         1.139          -6.019         0              0              0
  54  Cabinet         -3.022         2.098          -2.681         0              0              0
  55  Cabinet         -3.022         2.098          -1.743         0              0              0
  56  Cabinet         -0.577         0.388          -2.736         0              0              0
  57  Cabinet         -3.232         1.803          -3.343         0              0              0
  58  Cabinet         -2.811         1.810          -3.764         0              0              0
  59  Cabinet         -1.233         1.810          -3.764         0              0              0
  60  Cabinet         -1.364         0.388          -3.511         0              0              0
  61  Cabinet         -1.380         0.388          -3.511         0              0              0
  62  Cabinet         -0.226         1.803          -2.725         0              0              0
  63  Cabinet         -0.236         2.098          -1.767         0              0              0
  64  Cabinet         -0.236         2.098          -2.705         0              0              0
  65  Cabinet         -0.193         1.210          -4.239         0              0              0
  66  Cabinet         -2.148         0.388          -3.511         0              0              0
  67  Drawer          -3.104         0.797          -2.968         0              0              0
  68  Drawer          -0.449         0.797          -1.410         0              0              0
  69  Sink            -1.786         0.902          -3.748         0              0              0
  70  StoveBurner     -0.376         0.936          -2.451         0              0              0
  71  Drawer          -0.449         0.797          -0.762         0              0              0
  72  CounterTop      -0.268         0.951          -1.089         0              0              0
  73  Drawer          -0.449         0.797          -3.348         0              0              0
  74  StoveBurner     -0.376         0.936          -2.031         0              180            0
  75  Drawer          -0.449         0.797          -2.968         0              0              0
  76  StoveBurner     -0.165         0.936          -2.030         0              180            0
  77  StoveBurner     -0.165         0.936          -2.450         0              0              0
  78  StoveKnob       -0.568         0.903          -2.313         45             270            0
  79  StoveKnob       -0.568         0.903          -2.470         45             270            0
  80  StoveKnob       -0.568         0.903          -2.166         45             270            0
  81  StoveKnob       -0.568         0.903          -2.003         45             270            0
  82  Microwave       -0.143         0.903          -0.908         0              270            0
  83  LightSwitch     -1.108         1.457          0.338          0              180            0
  84  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  85  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  86  Fridge          -3.188         0.0            -2.184         0              0              0
  87  SinkBasin       -1.786         0.779          -3.747         0              0              0
  88  Toaster         -0.230         0.903          -3.406         0              270            0
  89  DiningTable     -2.800         0.003          -0.505         0              0              0
  90  Chair           -3.044         0.003          -1.223         0              32.194         0
  91  Faucet          -1.791         1.136          -3.913         0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn left and go straight. Turn left and go to the counter with the apple. | STEP 2: Pick apple up off the counter. | STEP 3: Put apple on the plate. | STEP 4: Turn around 180 degrees. Go straight to the counter with the knife. | STEP 5: Pick up the knife off the counter. | STEP 6: Turn around and go back to the counter with the apple. | STEP 7: Cut the apple with the knife. | STEP 8: Put the knife on the plate. | STEP 9: Pick up the plate. | STEP 10: Turn around and walk straight. Turn right and walk straight.  | STEP 11: Put the plate and apple on the table. | END