Task: Cut and apple on the counter as well as cut up an apple in the sink plus placing a slice of it with the other apple.

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          -0.75          0              0              0
   1  Statue          -0.846         0.936          -1.386         0              0              0              62
   2  CreditCard      -1.881         0.551          2.874          0              0              0              88
   3  CreditCard      1.029          0.908          -1.879         0              0              0              68
   4  CellPhone       0.874          0.150          -0.690         0              270            0              65
   5  DishSponge      -1.467         0.553          2.718          0              0              0              88
   6  DishSponge      0.811          0.120          0.374          0              270            0              57
   7  ButterKnife     0.773          0.911          -0.208         0              180            0              63
   8  Fork            0.794          0.495          -0.524         0              180            0              66
   9  Spoon           0.793          0.154          -0.650         0              270            0              65
  10  Knife           -0.550         0.957          -0.143         0              0              0              62
  11  Egg             -0.642         0.818          -0.745         0              90             0              83
  12  Egg             0.688          0.949          -2.136         0              0              0              68
  13  Cup             1.029          0.908          -1.793         0              0              0              68
  14  Cup             0.844          1.399          0.967          0              270            0              85
  15  Plate           0.910          0.111          -2.132         0              0              0              67
  16  Tomato          0.688          0.952          -2.308         0              0              0              68
  17  Tomato          1.026          1.683          1.063          0              270            0              85
  18  Bowl            0.811          0.111          -1.892         0              0              0              67
  19  Bowl            1.194          1.669          -2.234         0              270            0              61
  20  PepperShaker    -1.674         0.878          2.773          0              0              0              89
  21  PepperShaker    0.773          0.907          -0.381         0              0              0              63
  22  Lettuce         -0.550         1.010          -1.231         0              0              0              62
  23  Lettuce         1.026          1.720          1.254          0              270            0              85
  24  Bread           0.966          0.944          1.349          0              270            0              85
  25  Apple           -1.007         0.227          0.543          0              180            0              82
  26  Apple           -0.753         0.830          -0.659         0              90             0              83
  27  Apple           0.844          1.185          1.540          0              270            0              85
  28  Statue          0.773          0.914          -0.555         0              180            0              63
  29  Glassbottle     -1.778         0.554          2.822          0              0              0              88
  30  Bread           0.905          1.482          1.444          0              270            0              85
  31  CreditCard      0.688          0.908          -1.793         0              0              0              68
  32  CellPhone       1.199          0.908          -0.208         0              0              0              63
  33  Potato          -1.007         0.207          0.641          0              180            0              82
  34  Knife           -0.772         0.957          -1.618         0              0              0              62
  35  Fork            0.875          0.494          -0.607         0              0              0              66
  36  Pan             0.842          0.950          -1.504         0              0              0              59
  37  Lettuce         0.944          0.988          0.139          0              0              0              63
  38  Plate           1.148          1.669          -0.593         0              270            0              71
  39  Apple           -0.808         0.830          -0.400         0              90             0              83
  40  Pot             0.842          0.950          -1.098         0              0              0              56
  41  Spatula         0.754          0.717          -0.565         0              180            0              60
  42  PaperTowelRoll  0.859          1.015          -1.879         0              0              0              68
  43  Tomato          0.844          0.903          1.063          0              270            0              85
  44  Egg             1.028          1.821          -1.236         0              270            0              84
  45  SaltShaker      -1.571         0.878          2.746          0              0              0              89
  46  PepperShaker    -1.041         0.929          -0.643         0              0              0              62
  47  Vase            -1.423         0.169          2.621          0              0              0              88
  48  ButterKnife     -1.325         0.919          -0.884         0              10.678         0              62
  49  SoapBottle      -1.229         0.933          0.144          0              0              0              62
  50  Vase            -1.878         0.882          2.719          0              0              0              89
  51  Bowl            0.844          1.405          1.254          0              270            0              85
  52  DishSponge      0.688          0.910          -1.965         0              0              0              68
  53  Spoon           1.114          0.912          -1.879         0              90             0              68
  54  Cup             1.240          1.663          -2.029         0              270            0              61
  55  Mug             -1.985         0.549          2.822          0              0              0              88
  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: Walk around the room the face the sink. | STEP 2: take an apple from the sink. | STEP 3: Turn around to face the counter. | STEP 4: Place the apple on the counter. | STEP 5: Turn to face the knife on the sink. | STEP 6: Pick up the knife on the counter. | STEP 7: Turn to face the apple on the counter. | STEP 8: Cut the apple into 3 slices. | STEP 9: Turn around to face the sink. | STEP 10: Cut the apple in the sink into 3 slices. | STEP 11: Put the knife in the sink. | STEP 12: Pick up a piece of apple from in the sink. | STEP 13: Turn around to face the counter. | STEP 14: place the piece of apple to the left of the other apple. | END