Task: Slice the apple, put it in the sink, fill with water, put it on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          2.25           0              180            0
   1  Potato          -0.598         0.933          -1.119         0              47.530         0              72
   2  DishSponge      -2.438         0.910          -0.147         0              0              0              64
   3  DishSponge      -1.455         0.116          -1.068         0              0              0              49
   4  ButterKnife     -2.853         0.911          -0.147         0              0              0              64
   5  ButterKnife     0.836          1.111          0.729          0              315            0              65
   6  Pot             -2.823         0.928          -0.396         0              0              0              71
   7  Spoon           -0.048         1.112          1.466          0              315            0              65
   8  Fork            -1.073         0.852          -1.139         0              270            0              82
   9  Fork            -1.505         0.850          -1.194         0              0              0              82
  10  Cup             -1.332         0.848          -1.360         0              0              0              82
  11  Cup             0.817          1.110          1.056          0              315            0              65
  12  Plate           -2.521         0.913          0.190          0              0              0              64
  13  Bowl            -2.740         1.473          0.690          0              90             0              84
  14  PepperShaker    -2.886         1.661          -1.087         0              0              0              56
  15  PepperShaker    0.313          0.112          -1.020         0              0              0              54
  16  SaltShaker      -2.885         1.791          -0.483         0              0              0              44
  17  SaltShaker      -0.556         0.907          -1.032         0              0              0              72
  18  Bread           0.997          0.965          -1.115         0              0              0              72
  19  Bread           0.394          1.166          1.325          0              315            0              65
  20  Mug             -2.619         0.373          0.690          0              0              0              84
  21  Pan             -2.59          0.9            -1.147         0              0              0              72
  22  Apple           0.284          1.154          1.580          0              0              0              65
  23  Fork            -2.585         0.747          0.226          0              0              0              70
  24  Kettle          -2.620         0.922          -0.724         0              0              0              63
  25  CreditCard      0.997          0.9            -0.982         0              334.941        0              72
  26  Bread           -0.401         0.948          -1.291         0              0              0              72
  27  Plate           -0.939         0.119          -1.068         0              0              0              45
  28  SoapBottle      -0.748         0.899          -1.291         0              315            0              72
  29  Spatula         -2.552         0.922          0.010          0              0              0              64
  30  Lettuce         -2.800         0.899          0.690          0              90             0              84
  31  SaltShaker      0.688          0.907          -1.282         0              0              0              72
  32  Tomato          0.203          1.152          1.056          0              0              0              65
  33  PepperShaker    -0.039         1.108          1.844          0              315            0              65
  34  ButterKnife     0.663          1.111          0.902          0              315            0              65
  35  Pot             -2.740         1.674          0.852          0              90             0              84
  36  DishSponge      0.971          1.111          1.210          0              315            0              65
  37  Egg             0.136          1.136          1.274          0              0              0              65
  38  Spoon           -1.987         0.748          -1.008         0              0              0              67
  39  Knife           0.060          1.106          1.587          270            209.997        0              65
  40  Cup             0.294          1.004          -1.381         0              0              0              85
  41  Mug             0.451          1.000          -1.414         0              90             0              85
  42  Bowl            0.133          1.110          1.737          0              315            0              65
  43  Cabinet         -2.647         2.075          -0.875         0              0              0
  44  Cabinet         -2.647         2.075          -0.234         0              0              0
  45  Cabinet         -0.824         0.469          -0.907         0              0              0
  46  Cabinet         -1.764         2.009          -1.197         0              0              0
  47  Cabinet         -1.834         2.009          -1.197         0              0              0
  48  Cabinet         -1.850         0.389          -0.897         0              0              0
  49  Cabinet         -1.801         0.469          -0.907         0              0              0
  50  Cabinet         1.115          2.009          -1.197         0              0              0
  51  Cabinet         0.235          2.009          -1.197         0              0              0
  52  Cabinet         1.125          0.470          -0.897         0              0              0
  53  Cabinet         -2.387         0.389          0.375          0              0              0
  54  Cabinet         0.484          0.389          -0.897         0              0              0
  55  Cabinet         -2.625         2.009          -1.197         0              0              0
  56  Cabinet         -2.647         2.009          -0.945         0              0              0
  57  Cabinet         -2.647         2.200          1.664          0              0              0
  58  Cabinet         -2.647         2.009          0.364          0              0              0
  59  Cabinet         0.164          2.009          -1.197         0              0              0
  60  Cabinet         -0.765         2.009          -1.197         0              0              0
  61  Cabinet         -0.834         2.009          -1.197         0              0              0
  62  Cabinet         -2.647         2.200          0.434          0              0              0
  63  StoveBurner     -2.622         0.886          -0.711         0              0              0
  64  CounterTop      -2.699         0.946          0.106          0              0              0
  65  CounterTop      0.908          1.147          0.788          0              315            0
  66  StoveBurner     -2.622         0.886          -0.396         0              0              0
  67  Drawer          -2.026         0.779          -1.082         0              0              0
  68  Sink            -1.328         0.916          -1.225         0              0              0
  69  StoveBurner     -2.822         0.886          -0.711         0              0              0
  70  Drawer          -2.572         0.779          0.099          0              0              0
  71  StoveBurner     -2.822         0.886          -0.396         0              0              0
  72  CounterTop      0.071          0.946          -1.199         0              0              0
  73  Drawer          0.254          0.779          -1.082         0              0              0
  74  LightSwitch     -1.167         1.307          3.0            0              180            0
  75  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  76  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  78  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  79  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  80  Window          0.321          1.449          3.088          90             0              0
  81  Toaster         -2.823         0.899          0.246          0              90             0
  82  SinkBasin       -1.344         0.838          -1.25          0              0              0
  83  GarbageCan      -2.757         1.886          1.466          0              0              0
  84  Fridge          -2.855         0.0            0.851          0              0              0
  85  Microwave       0.283          0.900          -1.331         0              0              0
  86  Stool           1.541          0.010          1.328          0              45             0
  87  Stool           0.983          0.010          1.793          0              47.459         0
  88  Faucet          -1.392         1.136          -1.399         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn right walk forward and turn left towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife back to the other side of the counter | STEP 4: Slice the apple on the counter | STEP 5: Walk to the other side of the counter and towards the microwave | STEP 6: Put the knife on the counter next to the microwave | STEP 7: Walk to the counter next to the stools | STEP 8: Grab a slice of the apple | STEP 9: Walk with the slice of the apple towards the sink | STEP 10: Put the slice of the apple in the sink, open the water and close it | STEP 11: Walk the the slice of the apple towards the microwave | STEP 12: Put the slice of the apple next to the knife on the counter | END