Task: Cut an apple, wash a piece of apple

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          2.5            0              90             0
   1  Potato          1.513          0.947          -0.726         0              0              0              52
   2  ButterKnife     -0.341         0.910          0.423          0              0              0              42
   3  Kettle          1.691          0.929          -0.335         0              0              0              50
   4  Fork            1.598          0.911          0.465          0              0              0              51
   5  Spatula         -2.538         0.925          1.230          0              180            0              70
   6  Spatula         -2.206         0.925          1.230          0              0              0              70
   7  Egg             -0.211         0.941          0.423          0              0              0              42
   8  Plate           -2.455         0.913          1.530          0              0              0              70
   9  Knife           -0.601         0.936          0.647          0              180            0              42
  10  Knife           -2.318         0.798          1.417          0              270            0              73
  11  Tomato          -2.393         1.131          -0.696         0              90             0              74
  12  Tomato          -2.621         0.953          0.031          0              0              0              70
  13  Lettuce         -2.538         0.994          0.631          0              0              0              70
  14  Bread           -0.081         0.996          1.317          0              0              0              42
  15  Bread           -2.206         0.996          1.530          0              0              0              70
  16  Mug             1.855          0.906          0.435          0              90             0              51
  17  Mug             -2.206         0.905          0.931          0              0              0              70
  18  Apple           -2.603         1.077          2.278          0              90             0              82
  19  Pan             0.0            0.9            0.948          0              29.999         0              42
  20  Knife           -2.379         0.798          0.952          0              270            0              47
  21  Apple           1.646          0.246          0.706          0              0              0              81
  22  Bowl            0.048          0.908          1.764          0              0              0              42
  23  Fork            -0.211         0.911          0.870          0              0              0              42
  24  Bread           -2.621         0.996          1.230          0              0              0              70
  25  Plate           -2.621         0.913          0.931          0              0              0              70
  26  Egg             -2.206         0.941          0.631          0              0              0              70
  27  Kettle          1.411          0.929          0.064          0              0              0              71
  28  Potato          -2.669         0.214          -0.570         0              90             0              74
  29  SaltShaker      0.588          1.658          -1.766         0              90             0              49
  30  Lettuce         -0.341         0.994          1.764          0              0              0              42
  31  Cup             -2.289         0.908          1.830          0              0              0              70
  32  SoapBottle      -2.685         1.539          0.270          0              0              0              65
  33  Spatula         -2.227         0.789          -0.073         0              90             0              60
  34  PaperTowelRoll  1.428          1.015          -0.684         0              0              0              52
  35  ButterKnife     1.426          0.911          0.494          0              0              0              51
  36  PepperShaker    -2.448         1.578          -1.849         0              180            0              69
  37  DishSponge      1.426          0.910          0.376          0              0              0              51
  38  Pot             1.691          0.929          0.064          0              0              0              53
  39  Spoon           -0.341         0.912          1.540          0              0              0              42
  40  Tomato          -2.466         0.637          -0.514         0              90             0              74
  41  Mug             -2.578         1.084          -0.979         0              180            0              74
  42  CounterTop      -0.360         0.946          1.093          0              0              0
  43  StoveBurner     1.412          0.923          -0.335         0              0              0
  44  StoveKnob       1.878          1.093          0.018          287.989        90             0
  45  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  46  Cabinet         -2.446         1.948          2.924          0              0              0
  47  Drawer          -2.276         0.792          0.902          0              0              0
  48  Cabinet         -2.145         0.402          1.578          0              0              0
  49  Cabinet         0.149          2.008          -1.603         0              90             0
  50  StoveBurner     1.691          0.923          -0.335         0              0              0
  51  CounterTop      1.585          0.946          0.405          0              0              0
  52  CounterTop      0.474          0.946          -1.625         0              0              0
  53  StoveBurner     1.691          0.923          0.064          0              0              0
  54  Cabinet         -2.446         1.948          1.687          0              0              0
  55  Cabinet         -2.446         1.948          1.640          0              0              0
  56  Sink            1.381          0.810          -1.271         0              225            0
  57  StoveKnob       1.878          1.093          0.150          287.989        90             0
  58  Cabinet         -2.145         0.402          -0.236         0              0              0
  59  Drawer          -2.276         0.792          0.437          0              0              0
  60  Drawer          -2.276         0.792          -0.027         0              0              0
  61  Cabinet         1.572          2.008          0.474          0              0              0
  62  Cabinet         1.572          2.008          -0.775         0              0              0
  63  Cabinet         -2.445         2.148          -1.275         0              0              0
  64  Cabinet         -2.446         2.148          -0.284         0              0              0
  65  Cabinet         -2.446         1.948          0.355          0              0              0
  66  Cabinet         -2.446         1.948          0.405          0              0              0
  67  Cabinet         -2.145         0.402          0.644          0              0              0
  68  Cabinet         -2.145         0.402          0.695          0              0              0
  69  Cabinet         -2.285         1.968          -1.325         0              180            0
  70  CounterTop      -1.485         0.946          1.319          0              0              0
  71  StoveBurner     1.411          0.923          0.064          0              0              0
  72  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  73  Drawer          -2.276         0.792          1.368          0              0              0
  74  Fridge          -2.475         0.0            -0.782         0              90             0
  75  LightSwitch     -0.929         1.350          -1.950         0              0              0
  76  Toaster         -2.564         0.900          1.876          0              90             0
  77  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  78  Window          1.508          1.534          -1.496         90             135            0
  79  Window          1.973          1.521          1.121          90             90             0
  80  SinkBasin       1.149          0.753          -1.380         0              225            0
  81  GarbageCan      1.646          -0.000         0.679          0              0              0
  82  Microwave       -2.580         0.900          2.440          0              90             0
  83  Stool           0.439          0.010          0.747          0              0              0
  84  Stool           -2.303         0.010          1.839          0              0              0
  85  Faucet          1.235          1.138          -1.473         0              225            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn right, go forward, turn left after the window | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward a bit, turn right in front of the basket | STEP 4: Cut the apple in the basket | STEP 5: Turn right, go forward a bit, turn left | STEP 6: Put the knife on the counter | STEP 7: Turn left, go forward a bit, turn right in front of the basket | STEP 8: Pick up an apple piece | STEP 9: Turn around, go forward a bit, turn left, go to the sink | STEP 10: Put the apple piece in the sink, open the water, wait, pick up the apple piece | STEP 11: Turn around, go forward, turn right in front of the window | STEP 12: Put the apple slice in the basket | END