Task: Place a chilled 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           1.0            0.900          2.75           0              90             0
   1  Potato          -0.876         0.970          1.154          0              0              0              68
   2  Potato          1.619          1.629          1.598          0              270            0              82
   3  Fork            1.448          0.747          0.916          0              270            0              73
   4  Fork            -0.689         0.747          0.914          0              270            0              66
   5  Spoon           1.414          0.747          1.052          0              0              0              73
   6  Spoon           1.456          0.849          1.369          0              0              0              85
   7  Spatula         -0.792         0.761          0.779          0              90             0              66
   8  Spatula         1.275          0.761          0.916          0              90             0              73
   9  Pot             -1.109         0.930          1.865          0              0              0              67
  10  Plate           -0.791         0.088          0.774          0              0              0              55
  11  Plate           -1.126         0.942          0.998          0              0              0              68
  12  Knife           1.275          0.768          2.527          0              270            0              46
  13  Knife           -0.689         0.768          2.449          0              270            0              44
  14  Tomato          1.456          0.131          2.879          0              0              0              81
  15  Tomato          -0.877         1.380          0.195          0              90             0              75
  16  SaltShaker      -1.126         0.934          0.687          0              0              0              68
  17  SaltShaker      -0.758         0.742          2.313          0              180            0              44
  18  PepperShaker    -1.192         1.498          0.692          0              0              0              54
  19  PepperShaker    1.777          1.944          1.830          0              0              0              60
  20  Lettuce         1.439          1.028          1.007          0              0              0              48
  21  Mug             1.767          0.932          1.887          0              0              0              48
  22  Lettuce         1.456          1.014          1.681          3.527          59.995         0              70
  23  SoapBottle      -0.795         0.937          2.386          0              0              0              43
  24  Bread           -0.923         0.990          2.265          0              302.470        0              43
  25  Fork            1.362          0.938          2.214          0              0              0              48
  26  Tomato          -0.976         0.627          -0.034         0              90             0              75
  27  Bowl            -0.764         0.078          2.241          0              0              0              64
  28  Pot             -1.109         0.930          1.470          0              0              0              45
  29  Spatula         1.787          0.952          1.244          0              90             0              48
  30  Knife           -0.861         0.768          1.050          0              270            0              66
  31  SaltShaker      -1.154         1.825          -0.081         0              0              0              56
  32  Apple           1.746          0.987          2.118          0              0              0              48
  33  PepperShaker    1.423          1.068          0.274          0              0              0              49
  34  ButterKnife     -0.793         0.937          0.921          0              0              0              68
  35  Potato          -1.012         0.847          0.195          0              90             0              75
  36  Plate           -1.076         1.832          0.303          0              0              0              57
  37  DishSponge      1.285          0.937          2.022          0              0              0              48
  38  Egg             1.523          0.105          3.010          0              0              0              81
  39  Cup             1.619          1.595          1.808          0              270            0              82
  40  Pan             1.378          1.737          0.392          0              270            0              51
  41  Spoon           -0.960         0.939          0.687          0              0              0              68
  42  Mug             1.528          1.002          2.345          0              270            0              48
  43  CounterTop      -0.973         0.973          2.386          0              0              0
  44  Drawer          -0.783         0.774          2.381          0              180            0
  45  StoveBurner     -1.108         0.922          1.470          0              0              0
  46  Drawer          1.370          0.774          2.391          0              0              0
  47  Stool           -0.748         0.008          3.116          0              0              0
  48  CounterTop      1.504          0.973          2.309          0              0              0
  49  Cabinet         1.219          1.388          0.591          0              0              0
  50  Cabinet         1.500          2.113          1.164          0              0              0
  51  Cabinet         1.219          2.010          0.591          0              0              0
  52  Cabinet         1.219          0.388          2.105          0              0              0
  53  Cabinet         1.219          0.553          0.591          0              0              0
  54  Cabinet         -0.913         2.113          1.164          0              0              0
  55  Cabinet         -0.633         0.388          0.627          0              0              0
  56  Cabinet         -0.913         2.050          -0.329         0              0              0
  57  Cabinet         -0.913         2.113          0.583          0              0              0
  58  Cabinet         -0.913         2.113          2.082          0              0              0
  59  Cabinet         -0.913         2.113          1.207          0              0              0
  60  Cabinet         1.500          2.113          2.082          0              0              0
  61  Cabinet         1.500          2.113          1.207          0              0              0
  62  Cabinet         1.500          1.810          2.691          0              0              0
  63  Cabinet         1.500          1.810          2.101          0              0              0
  64  Cabinet         -0.633         0.388          2.105          0              0              0
  65  Cabinet         -0.911         1.810          2.700          0              180            0
  66  Drawer          -0.783         0.774          0.915          0              180            0
  67  StoveBurner     -1.108         0.922          1.865          0              0              0
  68  CounterTop      -0.972         0.973          0.921          0              0              0
  69  Cabinet         1.219          0.388          0.631          0              0              0
  70  Sink            1.544          0.869          1.639          0              180            0
  71  StoveBurner     -0.832         0.922          1.865          0              0              0
  72  StoveBurner     -0.831         0.922          1.470          0              0              0
  73  Drawer          1.370          0.774          0.916          0              0              0
  74  Cabinet         -0.911         1.810          2.111          0              180            0
  75  Fridge          -1.001         0.0            0.119          0              0              0
  76  StoveKnob       -0.648         0.926          1.923          0              270            0
  77  StoveKnob       -0.648         0.926          1.363          0              270            0
  78  StoveKnob       -0.648         0.926          1.513          0              270            0
  79  StoveKnob       -0.648         0.926          1.763          0              270            0
  80  Toaster         -1.002         0.926          2.561          0              90             0
  81  GarbageCan      1.451          -0.029         2.912          0              0              0
  82  Microwave       1.632          1.480          1.645          0              270            0
  83  Window          0.224          1.601          3.509          90             0              0
  84  CoffeeMachine   1.692          0.926          2.453          0              270            0
  85  SinkBasin       1.461          0.833          1.369          0              180            0
  86  LightSwitch     0.451          1.412          -1.674         0              0              0
  87  Faucet          1.707          0.925          1.363          0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn right, walk some, then turn right and face the counter with the knife on it. | STEP 2: Grab the knife from the counter. | STEP 3: Turn right, turn right again and walk to the left side of the sink. | STEP 4: Slice the apple into 3 pieces. | STEP 5: Turn around back to the counter the knife was on. | STEP 6: Place the knife on the right side of the counter on top of the potato. | STEP 7: Walk back to the sliced up apple on the counter. | STEP 8: Grab one slice of the apple | STEP 9: Turn right, then turn right again and walk to the fridge. | STEP 10: Place the slice into the fridge and chill it for 5 seconds. Remove the slice. | STEP 11: Move back to the counter on the right.  | STEP 12: Place the apple slice on the counter. | END