Task: Putting an apple slice 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           -3.5           0.900          1.5            0              180            0
   1  Statue          -1.292         0.936          0.144          0              0              0              57
   2  Potato          0.944          0.941          -0.555         0              0              0              58
   3  Potato          0.783          1.165          1.158          0              270            0              80
   4  CellPhone       -0.698         0.930          -1.463         0              0              0              57
   5  CellPhone       1.029          0.908          -0.381         0              0              0              58
   6  Glassbottle     0.859          0.912          -0.381         0              0              0              58
   7  Spatula         -0.698         0.791          -0.573         0              270            0              78
   8  Knife           0.944          0.934          -0.208         0              0              0              58
   9  Knife           -0.550         0.957          -0.143         0              0              0              57
  10  Egg             0.688          0.949          -1.879         0              0              0              63
  11  Cup             1.087          1.640          1.063          0              270            0              80
  12  Cup             1.026          0.860          1.349          0              270            0              80
  13  Plate           -1.292         0.936          -0.118         0              0              0              57
  14  Bowl            1.055          1.669          -2.234         0              270            0              56
  15  Bowl            1.026          0.866          1.158          0              270            0              80
  16  SaltShaker      0.915          0.698          -0.648         0              270            0              55
  17  SaltShaker      -1.167         0.929          -1.430         0              0              0              57
  18  PepperShaker    0.710          0.117          0.325          0              270            0              58
  19  Lettuce         -0.624         1.010          -1.231         0              0              0              57
  20  Bread           0.905          1.482          1.254          0              270            0              80
  21  Apple           -0.753         0.830          -0.745         0              90             0              78
  22  Apple           1.087          1.452          1.254          0              270            0              80
  23  Statue          1.114          0.914          -0.729         0              0              0              58
  24  Glassbottle     0.861          0.109          -1.812         0              0              0              62
  25  Bread           0.773          0.992          0.139          0              0              0              58
  26  CreditCard      0.874          0.150          -0.729         0              270            0              60
  27  CellPhone       0.794          0.491          -0.648         0              270            0              61
  28  Potato          -0.865         0.207          0.510          0              180            0              77
  29  Knife           -0.698         0.957          -1.386         0              0              0              57
  30  Fork            0.773          0.911          -0.729         0              0              0              58
  31  Pan             -0.698         0.931          0.086          0              180            0              57
  32  Lettuce         1.114          0.988          0.139          0              0              0              58
  33  Plate           1.114          0.914          -0.208         0              0              0              58
  34  Apple           -0.865         0.227          0.608          0              180            0              77
  35  Pot             1.077          0.950          -1.504         0              0              0              53
  36  Spatula         0.859          0.926          -1.879         0              0              0              63
  37  PaperTowelRoll  0.688          1.015          -0.729         0              0              0              58
  38  Tomato          0.944          0.952          -0.034         0              0              0              58
  39  Egg             -0.587         0.814          -0.745         0              90             0              78
  40  SaltShaker      1.102          1.662          -0.465         0              270            0              66
  41  PepperShaker    0.944          0.907          0.139          0              0              0              58
  42  Vase            -1.981         0.881          2.719          0              0              0              84
  43  ButterKnife     -0.624         0.933          -1.463         0              0              0              57
  44  SoapBottle      -1.674         0.882          2.719          0              0              0              84
  45  Vase            1.101          1.667          -2.029         0              270            0              56
  46  Bowl            0.811          0.111          -2.212         0              0              0              62
  47  DishSponge      -0.846         0.933          -1.618         0              0              0              57
  48  Spoon           -0.753         0.781          -0.486         0              90             0              78
  49  Cup             0.844          0.860          1.063          0              270            0              80
  50  Mug             0.859          0.906          -1.793         0              0              0              63
  51  StoveBurner     0.842          0.919          -1.098         0              0              0
  52  Cabinet         0.648          0.474          0.244          0              270            0
  53  StoveBurner     1.077          0.919          -1.504         0              0              0
  54  StoveBurner     0.842          0.919          -1.504         0              0              0
  55  Drawer          0.637          0.755          -0.649         0              270            0
  56  Cabinet         0.949          2.159          -2.375         0              270            0
  57  CounterTop      -1.238         0.968          -0.643         0              0              0
  58  CounterTop      0.931          0.946          -0.208         0              0              0
  59  StoveBurner     1.077          0.919          -1.098         0              0              0
  60  Drawer          0.637          0.268          -0.649         0              270            0
  61  Drawer          0.637          0.547          -0.649         0              270            0
  62  Cabinet         0.648          0.475          -1.714         0              0              0
  63  CounterTop      0.931          0.946          -2.051         0              0              0
  64  Cabinet         0.948          2.439          -1.780         0              270            0
  65  Cabinet         0.948          2.159          -0.140         0              270            0
  66  Cabinet         0.949          2.159          -0.758         0              270            0
  67  Sink            -0.699         0.927          -0.649         0              0              0
  68  LightSwitch     -2.371         1.218          3.049          0              180            0
  69  StoveKnob       0.673          0.899          -1.373         315            90             180
  70  StoveKnob       0.673          0.899          -1.519         315            90             180
  71  StoveKnob       0.673          0.899          -1.086         315            90             180
  72  StoveKnob       0.673          0.899          -1.237         315            90             180
  73  Toaster         0.984          0.900          0.329          0              270            0
  74  Window          0.014          0.998          -2.640         90             0              0
  75  Window          -2.996         0.998          -2.640         90             0              0
  76  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  77  GarbageCan      -0.946         -0.036         0.575          0              180            0
  78  SinkBasin       -0.698         0.765          -0.647         0              90             0
  79  Microwave       1.042          1.680          -1.295         0              270            0
  80  Fridge          0.966          0.0            1.253          0              0              0
  81  HousePlant      -1.354         0.919          -1.540         0              0              0
  82  Shelf           -1.635         0.172          2.715          0              180            0
  83  Shelf           -1.635         0.552          2.715          0              180            0
  84  Shelf           -1.635         0.880          2.715          0              180            0
  85  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  86  Chair           -1.832         0.002          -0.034         0              119.999        0
  87  Chair           -1.854         0.002          -0.956         0              67.887         0
  88  Faucet          -0.867         1.161          -0.651         0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn left and head to the trash can | STEP 2: Grab the apple out of the trash can | STEP 3: Turn around and head to the counter | STEP 4: Place the apple down on the counter | STEP 5: Pick up the knife off of the counter | STEP 6: Cut the apple into three slices | STEP 7: Turn around and stop at the sink | STEP 8: Cut the apple in the sink into three slices | STEP 9: Put the knife into the sink | STEP 10: Grab one of the apple slices | STEP 11: Turn around and face the counter | STEP 12: Put the apple slice on the counter | END