Task: Cut an apple, wash a piece of the apple, put it in the bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.900          1.25           0              270            0
   1  Potato          -1.465         0.962          0.636          0              0              0              74
   2  Ladle           -2.011         1.164          0.190          0              90             0              62
   3  Ladle           -2.514         1.164          0.662          0              0              0              62
   4  ButterKnife     -2.388         1.124          0.190          0              0              0              62
   5  Pot             -3.475         1.133          0.48           0              90             0              50
   6  Pot             -3.572         1.566          2.849          0              90             0              69
   7  Fork            -0.785         1.047          3.266          0              0              0              52
   8  Fork            -2.450         0.095          0.579          0              0              0              55
   9  Spoon           -2.388         1.126          0.379          0              0              0              62
  10  Spoon           -0.908         1.049          1.920          0              0              0              52
  11  Spatula         -0.538         1.063          1.920          0              0              0              52
  12  Egg             -0.659         1.155          0.206          0              0              0              64
  13  Egg             -1.111         0.961          0.221          0              0              0              74
  14  Cup             -0.939         1.122          0.296          0              0              0              64
  15  Plate           -3.373         1.285          3.061          0              90             0              69
  16  Knife           -1.288         0.963          0.428          0              0              0              74
  17  SoapBottle      -0.785         1.047          2.593          0              0              0              52
  18  SoapBottle      -1.568         1.154          0.095          0              0              0              49
  19  Tomato          -0.538         1.088          2.593          0              0              0              52
  20  Tomato          -0.662         1.087          3.266          0              0              0              52
  21  SaltShaker      -2.555         0.898          0.511          0              0              0              61
  22  PepperShaker    -2.514         1.121          0.379          0              0              0              62
  23  Bread           -0.908         1.134          3.042          0              0              0              52
  24  Apple           -0.908         1.114          2.817          0              0              0              52
  25  Fork            -0.771         1.125          0.206          0              0              0              64
  26  SoapBottle      -3.814         1.125          0.662          0              0              0              59
  27  Pot             -0.785         1.052          2.369          0              0              0              52
  28  Ladle           -1.111         0.970          0.428          0              90             0              74
  29  Potato          -3.644         0.142          2.008          0              0              0              73
  30  Plate           -1.156         0.047          0.437          0              0              0              56
  31  Bread           -2.639         1.211          0.567          0              0              0              62
  32  Lettuce         -2.011         1.202          0.473          0              0              0              62
  33  Spatula         -0.415         1.063          2.817          0              0              0              52
  34  Pan             -3.000         1.133          0.227          0              270            0              66
  35  Egg             -3.229         0.759          2.920          0              90             0              69
  36  Cup             -1.465         0.929          0.498          0              0              0              74
  37  SaltShaker      -3.814         1.121          0.284          0              0              0              59
  38  Knife           -0.662         1.079          3.042          0              270            0              52
  39  Bowl            -0.827         1.122          0.478          0              0              0              64
  40  PepperShaker    -1.995         0.092          0.545          0              0              0              54
  41  ButterKnife     -1.553         0.931          0.498          0              0              0              74
  42  Apple           -0.203         1.295          0.443          0              0              0              75
  43  Tomato          -3.440         1.603          3.061          0              90             0              69
  44  DishSponge      -0.771         1.124          0.115          0              0              0              64
  45  Spoon           -0.908         1.049          2.144          0              0              0              52
  46  Mug             -3.291         0.917          2.459          0              0              0              69
  47  StoveKnob       -3.322         1.053          0.709          45             0              0
  48  StoveBurner     -3.474         1.097          0.227          0              180            0
  49  Sink            -1.394         0.982          0.439          0              0              0
  50  StoveBurner     -3.474         1.097          0.479          0              180            0
  51  StoveKnob       -3.164         1.053          0.709          45             0              0
  52  DiningTable     -0.620         0.017          2.486          0              0              0
  53  Drawer          -2.043         0.608          0.594          0              0              0
  54  Drawer          -2.043         0.216          0.594          0              0              0
  55  Drawer          -2.498         0.216          0.594          0              0              0
  56  Cabinet         -1.001         0.393          0.734          0              0              0
  57  StoveBurner     -3.000         1.097          0.480          0              0              0
  58  StoveKnob       -3.492         1.053          0.709          45             0              0
  59  CounterTop      -3.856         1.160          0.379          0              0              0
  60  Drawer          -2.043         0.937          0.599          0              0              0
  61  Drawer          -2.509         0.937          0.599          0              0              0
  62  CounterTop      -2.280         1.160          0.379          0              0              0
  63  StoveKnob       -2.985         1.053          0.709          45             0              0
  64  CounterTop      -0.514         1.160          0.492          0              0              0
  65  Drawer          -2.498         0.608          0.594          0              0              0
  66  StoveBurner     -3.000         1.097          0.227          0              0              0
  67  Cabinet         -1.733         0.393          0.734          0              0              0
  68  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  69  Fridge          -3.519         0.0            2.717          0              90             0
  70  Window          -1.394         1.924          0.014          90             0              0
  71  Window          -3.266         1.924          0.014          90             0              0
  72  Toaster         -0.225         1.038          2.865          0              270            0
  73  GarbageCan      -3.696         0.002          2.008          0              0              0
  74  SinkBasin       -1.389         0.921          0.428          0              0              0
  75  Microwave       -0.366         1.113          0.430          0              0              0
  76  HousePlant      -2.155         1.101          0.169          0              332.897        0
  77  LightSwitch     -2.584         1.299          3.5            0              180            0
  78  Faucet          -1.393         1.373          0.168          0              270            0
  79  NorthWall
  80  SouthWall
  81  SouthWall

Plan:
STEP 1: Turn around, go forward, turn right at the sink | STEP 2: Pick up the knife from the sink | STEP 3: Turn around, go forward, turn right at the table  | STEP 4: Cut the apple on the table  | STEP 5: Turn around, go forward a bit, turn left and go to the cupboard under the sink | STEP 6: Put the knife in the cupboard | STEP 7: Turn around, go forward, turn right at the table  | STEP 8: Pick up an apple piece from the table  | STEP 9: Turn right, go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn right, go forward, turn right | STEP 12: Put the apple piece into the bin | END