Task: Placing a clean apple slice on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.869          -2.5           0              90             0
   1  DishSponge      0.841          0.772          -0.790         0              270            0              68
   2  ButterKnife     0.655          0.883          -0.108         0              0              0              45
   3  Spatula         -1.056         0.915          1.187          0              270            0              71
   4  Spoon           0.781          0.666          0.569          0              0              0              50
   5  Fork            0.757          0.773          -0.680         0              270            0              68
   6  Fork            0.866          0.760          -0.124         0              90             0              44
   7  Pot             -2.097         0.930          0.785          0              0              0              47
   8  Egg             -1.620         0.736          -3.698         0              0              0              72
   9  Egg             1.040          0.920          -0.913         0              0              0              45
  10  Plate           -1.056         0.904          0.843          0              270            0              71
  11  Tomato          0.669          0.514          -2.113         0              270            0              65
  12  Tomato          0.672          0.820          -0.790         0              270            0              68
  13  SoapBottle      -0.252         0.899          1.101          0              270            0              71
  14  SoapBottle      -1.187         0.051          -3.611         0              270            0              60
  15  Bowl            0.746          1.373          -1.880         0              270            0              65
  16  SaltShaker      0.601          0.661          0.265          0              0              0              50
  17  SaltShaker      0.781          0.661          0.265          0              0              0              50
  18  Bread           -1.719         0.745          -1.416         0              0              0              81
  19  Lettuce         0.149          0.987          1.101          0              270            0              71
  20  Lettuce         0.785          1.246          -1.802         0              270            0              65
  21  Mug             -1.843         0.794          -3.771         0              90             0              67
  22  Mug             0.803          0.878          -0.245         0              0              0              45
  23  Pot             -1.552         0.930          0.785          0              0              0              49
  24  Plate           -2.023         0.692          -1.447         0              0              0              81
  25  Fork            -0.855         0.901          1.187          0              270            0              71
  26  SoapBottle      0.842          0.014          -0.250         0              0              0              55
  27  Apple           0.877          0.937          0.029          0              0              0              45
  28  Pan             0.740          -0.007         -0.596         0              0              0              48
  29  Egg             -2.002         0.836          -3.607         0              0              0              67
  30  Spatula         0.623          0.774          -0.188         0              90             0              44
  31  Potato          0.785          0.498          -1.880         0              270            0              65
  32  Cup             0.676          0.014          0.076          0              0              0              55
  33  SaltShaker      0.950          0.879          -0.176         0              0              0              45
  34  PepperShaker    -1.886         0.698          -0.983         0              0              0              81
  35  ButterKnife     0.574          0.760          -0.188         0              90             0              44
  36  DishSponge      0.994          1.463          -0.146         0              0              0              56
  37  Bread           -0.252         0.944          0.929          0              270            0              71
  38  Lettuce         0.661          0.751          0.448          0              0              0              50
  39  Tomato          -1.970         0.750          -0.875         0              0              0              81
  40  Spoon           -1.970         0.702          -1.091         0              0              0              81
  41  Knife           0.769          0.783          -0.252         0              90             0              44
  42  Mug             0.901          0.659          0.508          0              0              0              50
  43  Bowl            0.149          0.899          0.843          0              270            0              71
  44  Drawer          0.706          0.766          -0.125         0              0              0
  45  CounterTop      0.792          0.919          -0.108         0              0              0
  46  Mirror          1.093          1.602          -0.643         0              0              0
  47  StoveBurner     -2.096         0.890          0.785          0              0              0
  48  Cabinet         0.507          0.345          -0.426         0              0              0
  49  StoveBurner     -1.552         0.890          0.785          0              0              0
  50  SideTable       0.770          -0.030         0.443          0              0              0
  51  Sink            0.753          0.882          -0.680         0              0              0
  52  StoveBurner     -2.096         0.890          1.049          0              0              0
  53  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  54  StoveBurner     -1.554         0.890          1.049          0              0              0
  55  Cabinet         0.507          0.345          0.156          0              0              0
  56  Cabinet         0.717          1.822          -0.398         0              0              0
  57  Cabinet         0.717          1.822          0.669          0              0              0
  58  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  59  Toaster         -0.522         0.886          1.081          0              180            0
  60  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  61  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  62  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  63  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  65  Fridge          0.680          -0.031         -1.957         0              0              0
  66  Window          -2.424         1.639          -2.453         90             270            0
  67  Microwave       -1.994         0.690          -3.651         0              0              0
  68  SinkBasin       0.757          0.762          -0.688         0              270            0
  69  LightSwitch     1.102          1.368          -3.737         0              270            0
  70  Shelf           -0.350         0.124          0.857          0              0              0
  71  DiningTable     -0.350         -0.025         0.857          0              0              0
  72  DiningTable     -1.909         -0.032         -3.507         0              0              0
  73  Blinds          -2.343         2.151          -2.437         0              270            0
  74  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  75  AluminumFoil    0.751          0.225          0.287          0              0              0
  76  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  77  Shelf           0.771          0.226          0.445          0              0              0
  78  Shelf           0.771          0.456          0.446          0              0              0
  79  Faucet          1.025          0.873          -0.678         270            180            0
  80  Shelf           -0.350         0.497          0.857          0              0              0
  81  DiningTable     -1.929         -0.035         -1.398         0              90             0
  82  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn to the left and walk over to the counter on the left-hand side of the sink.  | STEP 2: Pick up the knife from the counter.  | STEP 3: Walk forward and closer to the counter.  | STEP 4: Cut a slice from the apple on the counter.  | STEP 5: Turn left and walk to the table beside the oven.  | STEP 6: Turn right and place the knife bedside the salt and pepper shakers on the black table beside the counter that the apple is on.   | STEP 7: Turn right and move to the counter beside the sink. | STEP 8: Pick up the slice of apple from the counter.  | STEP 9: Turn right and move to the sink basin.  | STEP 10: Wash the apple slice in the sink.  | STEP 11: Turn right and walk back to the black table the the knife was placed on.  | STEP 12: Place the apple slice on the table.  | END