Task: Place a tray with a butter knife and slice of the fruit 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           -2.75          0.900          -3.0           0              270            0
   1  Potato          -0.417         1.318          -0.529         0              270            0              71
   2  Potato          -3.942         0.722          -0.430         0              0              0              76
   3  DishSponge      -0.212         1.502          -2.876         0              0              0              41
   4  DishSponge      -2.560         0.894          -0.462         0              270            0              78
   5  Spoon           -0.473         0.942          -1.538         0              180            0              59
   6  Spoon           -4.002         0.692          -0.491         0              180            0              76
   7  Spatula         -0.315         0.956          -1.450         0              180            0              59
   8  Plate           -2.761         0.908          -0.204         0              270            0              78
   9  Tomato          -0.359         1.539          -0.646         0              270            0              71
  10  Tomato          -0.397         1.539          -0.878         0              270            0              71
  11  Bowl            -0.126         1.937          -2.232         0              0              0              51
  12  Bowl            -0.724         0.078          -3.276         0              45             0              56
  13  Bread           -3.553         0.841          -3.506         0              199.125        0              77
  14  SaltShaker      -1.216         0.750          -3.505         0              0              0              47
  15  SaltShaker      -0.057         1.498          -2.964         0              0              0              53
  16  PepperShaker    -4.062         0.686          -0.309         0              0              0              76
  17  PepperShaker    -0.213         1.938          -0.713         0              0              0              48
  18  Mug             -0.201         1.574          -1.884         0              270            0              73
  19  Apple           -0.359         1.550          -0.529         0              270            0              71
  20  SoapBottle      -4.002         0.688          -0.187         0              180            0              76
  21  Pot             -0.437         0.961          -1.845         0              180            0              42
  22  Fork            -0.554         0.747          -1.488         0              90             0              45
  23  Cup             -1.248         0.943          -3.517         0              0              0              41
  24  Tomato          -3.843         0.810          -3.567         0              244.125        0              77
  25  Pan             -0.217         0.958          -2.215         0              45             0              60
  26  Plate           -2.761         0.908          -0.548         0              270            0              78
  27  Bread           -3.565         0.976          -0.376         0              270            0              78
  28  Spatula         -3.163         0.909          -0.290         0              270            0              78
  29  Knife           -3.203         0.785          -3.118         0              244.125        0              77
  30  SaltShaker      -2.359         0.890          -0.290         0              270            0              78
  31  PepperShaker    -4.002         0.686          -0.126         0              0              0              76
  32  ButterKnife     -0.321         0.942          -2.906         0              0              0              41
  33  Apple           -2.359         0.956          -0.204         0              270            0              78
  34  DishSponge      -0.541         0.081          -1.449         0              0              0              57
  35  Potato          -0.417         1.318          -0.413         0              270            0              71
  36  Egg             -0.315         0.982          -1.494         0              0              0              59
  37  Spoon           -3.942         0.692          -0.369         0              0              0              76
  38  Lettuce         -0.283         1.579          -0.297         0              270            0              71
  39  Mug             -4.062         0.685          -0.430         0              0              0              76
  40  Bowl            -4.182         0.689          -0.187         0              0              0              76
  41  CounterTop      -1.937         0.977          -3.673         0              0              0
  42  StoveBurner     -0.437         0.924          -1.845         0              180            0
  43  StoveBurner     -0.222         0.924          -1.845         0              180            0
  44  StoveBurner     -0.437         0.924          -2.243         0              0              0
  45  Drawer          -0.500         0.779          -1.450         0              0              0
  46  Drawer          -0.481         0.777          -2.739         0              0              0
  47  Drawer          -1.154         0.782          -3.499         0              0              0
  48  Cabinet         -0.337         2.110          -0.390         0              0              0
  49  Cabinet         -0.337         2.110          -1.272         0              0              0
  50  Cabinet         -0.337         2.110          -1.631         0              0              0
  51  Cabinet         -0.337         2.110          -2.497         0              0              0
  52  Cabinet         -0.337         1.891          -1.286         0              0              0
  53  Cabinet         -0.346         1.891          -3.293         0              0              0
  54  Cabinet         -0.629         0.388          -2.513         0              0              0
  55  Cabinet         -0.633         0.388          -3.008         0              0              0
  56  Cabinet         -1.010         0.388          -3.368         0              0              0
  57  Cabinet         -0.629         0.388          -1.614         0              0              0
  58  Cabinet         -0.327         1.886          -2.513         0              0              0
  59  CounterTop      -0.326         0.976          -1.450         0              0              0
  60  StoveBurner     -0.222         0.924          -2.243         0              0              0
  61  Sink            -0.600         0.929          -3.388         0              0              0
  62  StoveKnob       -0.617         0.899          -1.833         315            90             180
  63  StoveKnob       -0.617         0.899          -2.129         315            90             180
  64  StoveKnob       -0.617         0.899          -2.289         315            90             180
  65  StoveKnob       -0.617         0.899          -1.975         315            90             180
  66  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  67  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  68  Window          -1.389         1.610          -4.113         90             0              0
  69  LightSwitch     -4.372         1.493          -1.031         0              90             0
  70  SinkBasin       -0.614         0.802          -3.384         0              315            0
  71  Fridge          -0.314         0.0            -0.646         0              0              0
  72  Toaster         -1.970         0.930          -3.763         0              0              0
  73  Microwave       -0.216         1.470          -2.054         0              270            0
  74  Blinds          -1.373         2.205          -3.961         0              0              0
  75  Faucet          -0.393         0.930          -3.614         270            225            0
  76  SideTable       -4.030         0.002          -0.301         0              185.034        0
  77  DiningTable     -3.586         0.000          -3.258         0              0              0
  78  DiningTable     -3.224         -0.003         -0.453         0              0              0
  79  Shelf           -4.030         0.259          -0.301         0              185.034        0
  80  Shelf           -4.030         0.489          -0.301         0              185.034        0
  81  EastWall
  82  EastWall
  83  SouthWall

Plan:
STEP 1: Turn right, again turn right and go to the kitchen sink | STEP 2: Pick up the butter knife on the counter to the left of the sink | STEP 3: Turn to your left, go forward and turn right to face the fridge | STEP 4: Open the fridge and cut the fruit on the left | STEP 5: Turn to your right, go to the stove | STEP 6: Place the knife upright in the tray that is on the stove | STEP 7: Go back to the fridge | STEP 8: Open the fridge and take a slice of the cut fruit | STEP 9: Go back to the tray with the knife | STEP 10: Put the slice in the tray | STEP 11: Pick up the tray from the stove  | STEP 12: Turn right, again turn to your right, move across the room and turn left to face the table | STEP 13: Put the tray on the right edge of the table | END