Task: To cut apples on the counter with a knife.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -1.5           0              180            0
   1  Statue          -0.550         0.936          0.239          0              0              0              62
   2  Statue          -1.355         0.936          0.144          0              0              0              62
   3  Vase            -1.881         0.555          2.770          0              0              0              88
   4  Potato          0.859          0.941          0.139          0              0              0              63
   5  CreditCard      -1.778         0.551          2.563          0              0              0              88
   6  CreditCard      -1.571         0.878          2.692          0              0              0              89
   7  CellPhone       0.688          0.908          -2.051         0              0              0              68
   8  CellPhone       -0.846         0.930          0.239          0              0              0              62
   9  DishSponge      0.914          0.153          -0.690         0              270            0              65
  10  ButterKnife     0.773          0.911          -0.729         0              0              0              63
  11  ButterKnife     0.773          0.911          0.313          0              0              0              63
  12  Fork            0.794          0.702          -0.772         0              180            0              60
  13  Spoon           -0.642         0.781          -0.745         0              90             0              83
  14  Spatula         0.915          0.717          -0.648         0              0              0              60
  15  Knife           -0.550         0.957          0.009          0              0              0              62
  16  Egg             0.905          1.439          1.349          0              270            0              85
  17  Cup             1.101          1.663          -1.893         0              270            0              61
  18  Cup             1.026          0.860          1.158          0              270            0              85
  19  Bowl            0.905          0.866          1.540          0              270            0              85
  20  Bowl            0.966          1.646          1.158          0              270            0              85
  21  SaltShaker      0.688          0.907          -2.222         0              0              0              68
  22  Lettuce         0.688          0.988          -0.729         0              0              0              63
  23  Bread           1.114          0.992          -0.208         0              0              0              63
  24  Bread           0.966          1.482          1.063          0              270            0              85
  25  Mug             1.148          1.661          -2.234         0              270            0              61
  26  Mug             -1.363         0.549          2.822          0              0              0              88
  27  Apple           -0.808         0.830          -0.659         0              90             0              83
  28  Statue          -1.816         0.871          2.754          0              180            0              62
  29  Glassbottle     1.029          0.912          -0.729         0              0              0              63
  30  Bread           0.905          1.216          1.349          0              270            0              85
  31  CreditCard      1.199          0.908          -1.965         0              0              0              68
  32  CellPhone       -1.355         0.930          -0.380         0              0              0              62
  33  Potato          1.148          0.893          0.967          0              270            0              85
  34  Knife           1.029          0.934          -0.381         0              0              0              63
  35  Fork            -1.229         0.934          -0.118         0              0              0              62
  36  Pan             0.848          0.946          -1.080         0              0              0              56
  37  Lettuce         0.773          0.988          -0.381         0              0              0              63
  38  Plate           1.193          1.669          0.280          0              270            0              70
  39  Apple           -0.587         0.830          -0.659         0              90             0              83
  40  Pot             1.077          0.950          -1.504         0              0              0              58
  41  Spatula         0.915          0.509          -0.524         0              0              0              66
  42  PaperTowelRoll  -0.960         0.283          0.608          0              180            0              82
  43  Tomato          -0.869         0.962          -0.096         0              0              0              62
  44  Egg             -1.101         0.214          0.608          0              180            0              82
  45  SaltShaker      -1.467         0.550          2.615          0              0              0              88
  46  PepperShaker    0.688          0.907          0.139          0              0              0              63
  47  Vase            -1.292         0.933          -1.167         0              0              0              62
  48  ButterKnife     0.773          0.911          -0.208         0              0              0              63
  49  SoapBottle      1.055          1.666          0.025          0              270            0              70
  50  Vase            1.169          2.209          -1.299         0              270            0              69
  51  Bowl            -0.753         0.779          -0.832         0              90             0              83
  52  DishSponge      0.834          0.493          -0.690         0              270            0              66
  53  Spoon           -0.642         0.777          -0.573         0              0              0              83
  54  Cup             0.688          0.908          0.313          0              0              0              63
  55  Mug             0.903          0.942          -2.110         0              300.131        0              81
  56  StoveBurner     0.842          0.919          -1.098         0              0              0
  57  Cabinet         0.648          0.474          0.244          0              270            0
  58  StoveBurner     1.077          0.919          -1.504         0              0              0
  59  StoveBurner     0.842          0.919          -1.504         0              0              0
  60  Drawer          0.637          0.755          -0.649         0              270            0
  61  Cabinet         0.949          2.159          -2.375         0              270            0
  62  CounterTop      -1.238         0.968          -0.643         0              0              0
  63  CounterTop      0.931          0.946          -0.208         0              0              0
  64  StoveBurner     1.077          0.919          -1.098         0              0              0
  65  Drawer          0.637          0.268          -0.649         0              270            0
  66  Drawer          0.637          0.547          -0.649         0              270            0
  67  Cabinet         0.648          0.475          -1.714         0              0              0
  68  CounterTop      0.931          0.946          -2.051         0              0              0
  69  Cabinet         0.948          2.439          -1.780         0              270            0
  70  Cabinet         0.948          2.159          -0.140         0              270            0
  71  Cabinet         0.949          2.159          -0.758         0              270            0
  72  Sink            -0.699         0.927          -0.649         0              0              0
  73  LightSwitch     -2.371         1.218          3.049          0              180            0
  74  StoveKnob       0.673          0.899          -1.373         315            90             180
  75  StoveKnob       0.673          0.899          -1.519         315            90             180
  76  StoveKnob       0.673          0.899          -1.086         315            90             180
  77  StoveKnob       0.673          0.899          -1.237         315            90             180
  78  Toaster         0.984          0.900          0.329          0              270            0
  79  Window          0.014          0.998          -2.640         90             0              0
  80  Window          -2.996         0.998          -2.640         90             0              0
  81  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  82  GarbageCan      -0.946         -0.036         0.575          0              180            0
  83  SinkBasin       -0.698         0.765          -0.647         0              90             0
  84  Microwave       1.042          1.680          -1.295         0              270            0
  85  Fridge          0.966          0.0            1.253          0              0              0
  86  HousePlant      -1.354         0.919          -1.540         0              0              0
  87  Shelf           -1.635         0.172          2.715          0              180            0
  88  Shelf           -1.635         0.552          2.715          0              180            0
  89  Shelf           -1.635         0.880          2.715          0              180            0
  90  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  91  Chair           -1.832         0.002          -0.034         0              119.999        0
  92  Chair           -1.854         0.002          -0.956         0              67.887         0
  93  Faucet          -0.867         1.161          -0.651         0              0              0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn left and walk to the kitchen sink on the left.  | STEP 2: Pick up the green apple closest to you.  | STEP 3: Turn around and move to the counter with the coffee maker.  | STEP 4: Put the apple down to the left of the cell phone.  | STEP 5: Turn around and walk back to the sink.  | STEP 6: Pick up the remaining apple in the sink.  | STEP 7: Turn around and walk back to the counter with the first apple on it.  | STEP 8: Put the apple down to the right of the salt shaker.  | STEP 9: Move to the counter that's to the left of the stove.  | STEP 10: Pick up the knife that's underneath the head of lettuce on the right.  | STEP 11: Move back to the counter with coffee maker on it.  | STEP 12: Cut both apples with the knife.  | END