Task: Put a piece of fruit into a pan on a counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          -1.0           0              0              0
   1  DishSponge      -1.106         1.951          1.505          0              0              0              63
   2  DishSponge      -0.758         0.746          0.779          0              180            0              70
   3  ButterKnife     -1.126         0.937          0.687          0              0              0              72
   4  ButterKnife     -0.961         0.937          2.159          0              0              0              47
   5  Spoon           -0.861         0.747          2.381          0              270            0              48
   6  Spatula         1.414          0.761          1.052          0              270            0              77
   7  Egg             -1.018         1.354          0.272          0              90             0              79
   8  Cup             -1.211         0.936          2.234          0              0              0              47
   9  Cup             -1.032         1.950          1.317          0              0              0              63
  10  Plate           1.391          0.086          0.988          0              0              0              73
  11  Plate           -0.791         0.088          0.915          0              0              0              59
  12  Knife           -0.896         0.768          2.517          0              270            0              48
  13  Knife           -0.827         0.768          2.517          0              270            0              48
  14  Tomato          1.746          0.999          0.873          0              0              0              52
  15  Tomato          -0.877         1.560          -0.034         0              90             0              79
  16  Tomato          -0.988         0.876          -0.110         0              90             0              79
  17  SoapBottle      1.430          0.081          0.707          0              0              0              73
  18  SoapBottle      1.300          1.746          -0.137         0              0              0              55
  19  Bowl            -1.038         1.824          0.303          0              0              0              61
  20  PepperShaker    1.585          1.944          1.783          0              0              0              64
  21  PepperShaker    -0.795         0.934          2.234          0              0              0              48
  22  Lettuce         -1.126         1.028          0.921          0              0              0              72
  23  Lettuce         -1.044         1.028          2.234          0              0              0              47
  24  Bread           -0.971         1.387          0.042          0              90             0              79
  25  Apple           1.388          0.892          1.341          0              180            0              89
  26  Lettuce         1.458          1.014          1.677          3.773          58.902         356.164        74
  27  SoapBottle      -0.764         0.081          2.313          0              0              0              68
  28  Bread           -0.971         1.567          0.195          0              90             0              79
  29  Fork            1.669          0.938          0.806          0              0              0              52
  30  Tomato          -1.012         0.876          0.118          0              90             0              79
  31  Bowl            -0.976         0.562          0.042          0              90             0              79
  32  Pot             -1.109         0.930          1.865          0              0              0              71
  33  Spatula         1.669          0.952          1.074          0              0              0              52
  34  Knife           -0.723         0.768          2.517          0              270            0              48
  35  SaltShaker      -0.723         0.743          0.914          0              180            0              70
  36  Apple           1.423          0.119          2.879          0              0              0              85
  37  PepperShaker    -1.043         0.934          0.687          0              0              0              72
  38  ButterKnife     -1.127         0.937          2.234          0              0              0              47
  39  Potato          -0.710         0.970          0.765          0              0              0              72
  40  Plate           -1.078         1.506          0.822          0              0              0              58
  41  DishSponge      -0.758         0.746          1.050          0              180            0              70
  42  Egg             -0.937         0.600          -0.110         0              90             0              79
  43  Cup             -1.081         1.499          2.524          0              180            0              69
  44  Pan             -1.109         0.930          1.470          0              0              0              49
  45  Spoon           1.592          0.939          2.022          0              0              0              52
  46  Mug             1.528          1.002          2.345          0              270            0              52
  47  CounterTop      -0.973         0.973          2.386          0              0              0
  48  Drawer          -0.783         0.774          2.381          0              180            0
  49  StoveBurner     -1.108         0.922          1.470          0              0              0
  50  Drawer          1.370          0.774          2.391          0              0              0
  51  Stool           -0.748         0.008          3.116          0              0              0
  52  CounterTop      1.504          0.973          2.309          0              0              0
  53  Cabinet         1.219          1.388          0.591          0              0              0
  54  Cabinet         1.500          2.113          1.164          0              0              0
  55  Cabinet         1.219          2.010          0.591          0              0              0
  56  Cabinet         1.219          0.388          2.105          0              0              0
  57  Cabinet         1.219          0.553          0.591          0              0              0
  58  Cabinet         -0.913         2.113          1.164          0              0              0
  59  Cabinet         -0.633         0.388          0.627          0              0              0
  60  Cabinet         -0.913         2.050          -0.329         0              0              0
  61  Cabinet         -0.913         2.113          0.583          0              0              0
  62  Cabinet         -0.913         2.113          2.082          0              0              0
  63  Cabinet         -0.913         2.113          1.207          0              0              0
  64  Cabinet         1.500          2.113          2.082          0              0              0
  65  Cabinet         1.500          2.113          1.207          0              0              0
  66  Cabinet         1.500          1.810          2.691          0              0              0
  67  Cabinet         1.500          1.810          2.101          0              0              0
  68  Cabinet         -0.633         0.388          2.105          0              0              0
  69  Cabinet         -0.911         1.810          2.700          0              180            0
  70  Drawer          -0.783         0.774          0.915          0              180            0
  71  StoveBurner     -1.108         0.922          1.865          0              0              0
  72  CounterTop      -0.972         0.973          0.921          0              0              0
  73  Cabinet         1.219          0.388          0.631          0              0              0
  74  Sink            1.544          0.869          1.639          0              180            0
  75  StoveBurner     -0.832         0.922          1.865          0              0              0
  76  StoveBurner     -0.831         0.922          1.470          0              0              0
  77  Drawer          1.370          0.774          0.916          0              0              0
  78  Cabinet         -0.911         1.810          2.111          0              180            0
  79  Fridge          -1.001         0.0            0.119          0              0              0
  80  StoveKnob       -0.648         0.926          1.923          0              270            0
  81  StoveKnob       -0.648         0.926          1.363          0              270            0
  82  StoveKnob       -0.648         0.926          1.513          0              270            0
  83  StoveKnob       -0.648         0.926          1.763          0              270            0
  84  Toaster         -1.002         0.926          2.561          0              90             0
  85  GarbageCan      1.451          -0.029         2.912          0              0              0
  86  Microwave       1.632          1.480          1.645          0              270            0
  87  Window          0.224          1.601          3.509          90             0              0
  88  CoffeeMachine   1.692          0.926          2.453          0              270            0
  89  SinkBasin       1.461          0.833          1.369          0              180            0
  90  LightSwitch     0.451          1.412          -1.674         0              0              0
  91  Faucet          1.707          0.925          1.363          0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn left and walk across the room to the counter. | STEP 2: Pick up the knife from behind the salt shaker. | STEP 3: Turn around and walk to the other counter. | STEP 4: Cut the fruit at the back of the counter. | STEP 5: Turn around and walk to the oven. | STEP 6: Place the knife standing up on the back left pan. | STEP 7: Turn around and walk to the counter. | STEP 8: Pick up a piece of fruit. | STEP 9: Turn around and carry the fruit to the oven. | STEP 10: Put the fruit in the pan with the knife. | STEP 11: Pick up the pan with the fruit and knife. | STEP 12: Turn left to the counter. | STEP 13: Set the pan down on the counter. | END