Task: Slice the apple 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           -0.75          0.900          1.75           0              270            0
   1  SprayBottle     -1.764         0.116          -1.635         0              0              0              82
   2  Kettle          -1.081         0.949          -1.81          0              0              0              71
   3  Kettle          0.645          1.656          -1.801         0              0              0              64
   4  DishSponge      1.090          0.114          -0.625         0              0              0              59
   5  DishSponge      -1.732         0.910          -1.879         0              0              0              73
   6  Spoon           0.285          0.920          -1.657         0              270            0              54
   7  Spatula         -0.778         0.926          -1.619         0              90             0              75
   8  Spatula         0.105          0.926          -1.436         0              0              0              54
   9  Pot             0.569          0.913          -1.619         0              0              0              75
  10  Cup             -0.086         0.783          -1.707         0              270            0              96
  11  Cup             1.093          0.911          -0.309         0              0              0              75
  12  Plate           -1.039         1.851          -1.839         0              0              0              55
  13  Plate           1.034          0.118          0.430          0              0              0              58
  14  Knife           0.149          0.949          -1.657         0              270            0              54
  15  SoapBottle      0.285          0.919          -1.758         0              270            0              54
  16  Tomato          -2.079         0.950          0.204          0              0              0              77
  17  Bowl            -2.323         0.911          0.291          0              0              0              77
  18  PepperShaker    1.223          1.651          -0.815         0              0              0              63
  19  SaltShaker      -0.778         0.906          -1.960         0              0              0              75
  20  Bread           1.414          1.240          -1.688         0              0              0              81
  21  Lettuce         -0.552         0.980          -1.874         0              0              0              75
  22  Lettuce         1.414          1.231          -1.345         0              0              0              81
  23  Mug             1.325          1.362          2.101          0              270            0              94
  24  Apple           1.414          1.196          -1.002         0              0              0              81
  25  Apple           1.453          1.754          1.838          0              270            0              94
  26  Tomato          1.325          1.407          2.351          0              270            0              94
  27  Glassbottle     -2.079         0.911          0.463          0              0              0              77
  28  Knife           -1.886         0.940          -1.879         0              90             0              73
  29  Plate           1.010          0.911          -0.65          0              0              0              75
  30  Fork            -0.477         0.911          -1.874         0              90             0              75
  31  Ladle           -1.886         0.954          -1.448         0              0              0              73
  32  Potato          1.381          0.256          1.08           0              0              0              92
  33  Lettuce         1.426          1.436          1.850          0              270            0              94
  34  Kettle          0.770          0.9            -1.836         0              0              0              75
  35  Pen             1.375          1.164          -1.002         0              180            0              81
  36  SaltShaker      1.375          1.157          0.370          0              180            0              81
  37  Cup             -1.712         0.910          0.291          0              0              0              77
  38  Egg             0.115          0.948          -1.859         0              270            0              54
  39  Spatula         -2.201         0.925          0.032          0              0              0              77
  40  Bowl            0.121          1.656          -1.839         0              0              0              65
  41  SprayBottle     0.475          0.910          -1.789         0              0              0              75
  42  Pan             -1.079         0.945          -1.528         0              0              0              76
  43  SoapBottle      -1.732         0.910          -1.707         0              0              0              73
  44  Pot             -1.431         0.949          -1.525         0              0              0              83
  45  ButterKnife     -1.835         0.910          0.463          0              0              0              77
  46  PepperShaker    0.407          0.112          -1.441         0              90             0              69
  47  DishSponge      1.461          1.655          -1.421         0              0              0              67
  48  Bread           1.176          0.989          -1.331         0              0              0              75
  49  Apple           1.408          1.300          0.188          0              270            0              97
  50  Spoon           0.416          0.775          -1.566         0              90             0              79
  51  Mug             -1.835         0.905          0.204          0              0              0              77
  52  Drawer          0.860          0.75           0.430          0              0              0
  53  Drawer          0.871          0.75           -1.134         0              0              0
  54  Sink            0.156          0.817          -1.801         0              270            0
  55  Cabinet         -0.868         2.005          -1.690         0              0              0
  56  Cabinet         -1.661         2.059          -1.684         0              90             0
  57  Cabinet         -0.817         2.059          -1.689         0              0              0
  58  Cabinet         0.860          0.402          0.665          0              0              0
  59  Cabinet         0.860          0.402          -0.552         0              0              0
  60  Cabinet         0.860          0.402          -1.365         0              0              0
  61  Cabinet         -0.244         0.402          -1.389         0              0              0
  62  Cabinet         -0.815         0.402          -1.389         0              0              0
  63  Cabinet         1.159          2.059          -0.334         0              0              0
  64  Cabinet         0.488          2.059          -1.689         0              0              0
  65  Cabinet         -0.193         2.059          -1.689         0              0              0
  66  Drawer          0.860          0.75           -0.699         0              0              0
  67  Cabinet         1.159          2.059          -1.019         0              0              0
  68  Cabinet         -1.611         2.005          -1.690         0              0              0
  69  Cabinet         0.832          0.401          -1.393         0              90             0
  70  Drawer          -2.105         0.75           -1.389         0              0              0
  71  StoveBurner     -1.081         0.941          -1.809         0              0              0
  72  Cabinet         -0.202         0.401          -1.391         0              90             0
  73  CounterTop      -1.973         0.945          -1.707         0              0              0
  74  Drawer          -0.375         0.75           -1.389         0              0              0
  75  CounterTop      1.164          0.946          -0.649         0              0              0
  76  StoveBurner     -1.081         0.941          -1.527         0              0              0
  77  CounterTop      -2.096         0.945          0.291          0              0              0
  78  Cabinet         -2.237         0.402          -1.389         0              0              0
  79  Drawer          0.584          0.75           -1.389         0              0              0
  80  Drawer          -1.795         0.75           -1.389         0              0              0
  81  CounterTop      1.5            1.197          -0.654         0              0              0
  82  Cabinet         -1.667         0.402          -1.389         0              0              0
  83  StoveBurner     -1.430         0.941          -1.525         0              0              0
  84  Drawer          -0.685         0.75           -1.389         0              0              0
  85  StoveBurner     -1.430         0.941          -1.809         0              0              0
  86  LightSwitch     -2.539         1.289          2.568          0              90             0
  87  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  88  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  89  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  90  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  91  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  92  GarbageCan      1.343          0.015          1.041          0              0              0
  93  HousePlant      1.440          1.153          0.593          0              0              0
  94  Fridge          1.417          0.0            2.101          0              0              0
  95  Window          -0.486         1.452          3.302          90             0              0
  96  SinkBasin       -0.063         0.765          -1.713         0              270            0
  97  Microwave       1.422          1.150          0.022          0              270            0
  98  Toaster         -2.066         0.900          -1.848         0              0              0
  99  Stool           -1.994         0.010          0.882          0              0              0
 100  Faucet          -0.096         1.041          -1.867         0              270            0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Turn left then walk straight to the stove | STEP 2: Pick up the pan on the stove | STEP 3: Turn left head to the counter | STEP 4: Put pan on the left side of the counter | STEP 5: Pick up the apple on the counter | STEP 6: Put the apple on the pan  | STEP 7: Turn right then face the sink on the left | STEP 8: Pick up the knife on the sink | STEP 9: Turn left and face the counter  | STEP 10: Slice the apple in the pan | END