Task: Putting a sliced apple on the white table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.901          -0.5           0              180            0
   1  Potato          -0.395         1.075          2.068          0              90             0              80
   2  WineBottle      0.850          0.082          2.601          0              0              0              62
   3  Ladle           -0.272         0.835          0.377          0              0              0              82
   4  DishSponge      1.884          0.746          1.922          0              0              0              70
   5  ButterKnife     1.917          0.938          0.583          0              180            0              66
   6  Spoon           -0.349         0.792          1.217          0              0              0              82
   7  Egg             -0.261         1.078          2.014          0              90             0              80
   8  Egg             -0.272         0.833          0.545          0              0              0              82
   9  Cup             2.207          0.600          -0.278         0              270            0              76
  10  Cup             -0.396         0.935          2.827          0              0              0              55
  11  Plate           1.925          0.086          1.986          0              0              0              51
  12  Knife           -0.042         0.816          1.049          0              90             0              82
  13  Knife           -0.349         0.816          1.386          0              180            0              82
  14  SoapBottle      0.033          0.791          0.545          0              0              0              82
  15  SoapBottle      -0.326         0.038          -0.864         0              90             0              77
  16  SaltShaker      -0.349         0.785          0.881          0              0              0              82
  17  PepperShaker    -0.042         0.785          0.881          0              0              0              82
  18  PepperShaker    2.206          1.496          1.963          0              0              0              58
  19  Mug             -0.078         0.076          2.265          0              0              0              49
  20  Mug             -0.196         0.785          1.386          0              0              0              82
  21  Apple           -0.042         0.840          0.713          0              0              0              82
  22  Apple           -0.348         0.987          2.478          0              0              0              55
  23  Apple           0.033          0.840          0.377          0              0              0              82
  24  Egg             2.127          1.561          -0.460         0              270            0              76
  25  Lettuce         -0.196         0.852          1.217          0              0              0              82
  26  Fork            -0.349         0.791          1.049          0              0              0              82
  27  SoapBottle      1.840          0.939          0.509          0              0              0              66
  28  Ladle           -0.349         0.835          0.545          0              0              0              82
  29  Ladle           1.941          0.790          0.721          0              270            0              64
  30  Bread           -0.199         0.823          0.813          0              0              0              82
  31  SaltShaker      -0.425         0.785          1.217          0              0              0              82
  32  Potato          2.137          0.901          -0.097         0              270            0              76
  33  Pan             2.140          0.935          1.504          0              180            0              50
  34  WineBottle      0.174          0.938          2.688          0              0              0              55
  35  Spatula         -0.103         0.761          2.061          0              90             0              54
  36  Knife           0.033          0.816          1.049          0              90             0              82
  37  Tomato          2.056          1.369          -0.279         0              270            0              76
  38  Apple           -0.261         1.085          2.121          0              90             0              80
  39  ButterKnife     0.174          0.937          2.618          0              0              0              55
  40  Pot             2.140          0.935          1.106          0              0              0              57
  41  PepperShaker    -0.078         0.076          1.993          0              0              0              49
  42  Cup             2.059          0.336          -0.188         0              270            0              76
  43  DishSponge      -0.196         0.790          1.049          0              0              0              82
  44  Plate           1.298          0.085          2.523          0              0              0              61
  45  Spoon           -0.119         0.792          1.217          0              90             0              82
  46  Mug             2.223          1.318          -0.007         0              270            0              76
  47  Bowl            1.223          0.792          2.64           0              0              0              79
  48  Cabinet         2.041          2.113          2.618          0              0              0
  49  Cabinet         0.126          0.388          1.774          0              0              0
  50  StoveBurner     2.140          0.929          1.504          0              180            0
  51  Cabinet         1.760          0.388          2.346          0              0              0
  52  Cabinet         1.760          0.388          0.869          0              0              0
  53  Cabinet         2.041          1.810          0.283          0              0              0
  54  Drawer          -0.024         0.774          2.061          0              0              0
  55  CounterTop      1.065          0.973          2.666          0              0              0
  56  Cabinet         1.969          2.113          2.618          0              0              0
  57  StoveBurner     2.140          0.929          1.106          0              0              0
  58  Cabinet         2.041          2.113          1.809          0              0              0
  59  StoveBurner     1.866          0.929          1.504          0              180            0
  60  Cabinet         2.041          2.113          1.766          0              0              0
  61  Cabinet         1.514          0.388          2.360          0              0              0
  62  Cabinet         0.351          0.388          2.360          0              0              0
  63  Cabinet         2.041          1.810          0.872          0              0              0
  64  Drawer          2.167          0.774          0.582          0              0              0
  65  Cabinet         2.041          2.113          0.892          0              0              0
  66  CounterTop      2.060          0.973          0.583          0              0              0
  67  Sink            0.935          0.936          2.646          0              0              0
  68  Curtains        0.964          2.061          2.989          0              0              0
  69  StoveBurner     1.863          0.929          1.106          0              0              0
  70  Drawer          1.911          0.774          2.060          0              0              0
  71  StoveKnob       2.326          1.092          1.610          288.013        90             0
  72  StoveKnob       2.326          1.092          1.460          288.013        90             0
  73  StoveKnob       2.326          1.092          1.210          288.013        90             0
  74  StoveKnob       2.326          1.092          1.050          288.013        90             0
  75  Toaster         2.126          0.926          0.572          0              270            0
  76  Fridge          2.104          0.0            -0.279         0              270            0
  77  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  78  LightSwitch     0.354          1.518          -1.031         0              0              0
  79  SinkBasin       0.903          0.784          2.640          0              0              0
  80  Microwave       -0.310         0.926          2.077          0              90             0
  81  CoffeeMachine   2.084          0.927          2.667          0              225            0
  82  DiningTable     -0.153         -0.000         1.073          0              270            0
  83  Faucet          1.175          0.926          2.950          270            90             0
  84  Faucet          0.686          0.926          2.950          270            90             0
  85  Chair           -0.077         0.002          0.196          0              15.000         0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around and head to the white table on the left | STEP 2: Grab the large knife off of the table | STEP 3: Move slightly to the left | STEP 4: Cut the apple into three slices | STEP 5: Lay the knife down on the table | STEP 6: Grab one of the apple slices | STEP 7: Turn right and head to the sink | STEP 8: Wash the apple in the sink and take it out | STEP 9: Turn around and head to the white table | STEP 10: Put the apple on the table | END