Task: Place a washed apple slice on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.869          -2.75          0              0              0
   1  Pan             0.746          1.158          -1.802         0              0              0              61
   2  Spatula         0.841          0.787          -0.845         0              0              0              64
   3  Spatula         -1.635         0.716          -1.307         0              0              0              77
   4  Fork            0.799          0.773          -0.570         0              0              0              64
   5  Pot             -1.552         0.930          0.785          0              0              0              45
   6  Egg             -2.054         0.836          -3.640         0              0              0              63
   7  Cup             0.824          1.373          -2.113         0              270            0              61
   8  Cup             0.732          0.014          -0.053         0              0              0              51
   9  Tomato          0.824          1.423          -1.958         0              270            0              61
  10  Tomato          0.661          0.712          0.326          0              0              0              46
  11  SoapBottle      -1.803         0.701          -1.199         0              0              0              77
  12  Bowl            0.858          1.462          -0.146         0              0              0              52
  13  Bowl            0.903          1.462          0.411          0              0              0              53
  14  PepperShaker    -1.578         0.696          -3.276         0              0              0              68
  15  PepperShaker    0.729          0.879          -0.245         0              0              0              41
  16  SaltShaker      0.841          0.660          0.448          0              0              0              46
  17  Lettuce         0.757          0.859          -0.735         0              270            0              64
  18  Apple           0.961          0.718          0.508          0              0              0              46
  19  Pot             -0.252         0.899          1.015          0              270            0              67
  20  Plate           -2.023         0.692          -1.447         0              0              0              77
  21  Fork            0.149          0.901          1.015          0              270            0              67
  22  SoapBottle      -1.260         0.051          -3.684         0              270            0              56
  23  Apple           -1.896         0.852          -3.640         0              0              0              63
  24  Pan             0.740          -0.007         -0.596         0              0              0              44
  25  Egg             0.901          0.701          0.265          0              0              0              46
  26  Spatula         -1.885         0.715          -1.524         0              180            6.693          77
  27  Potato          -1.535         0.729          -3.614         0              0              0              68
  28  Cup             0.676          0.014          -0.315         0              0              0              51
  29  SaltShaker      0.721          0.660          0.448          0              0              0              46
  30  PepperShaker    0.961          0.661          0.630          0              0              0              46
  31  ButterKnife     -1.886         0.701          -1.199         0              0              0              77
  32  DishSponge      -0.051         0.900          1.187          0              270            0              67
  33  Bread           -0.873         0.931          0.978          0              24.231         0              67
  34  Lettuce         -1.084         0.973          0.955          41.452         1.687          2.953          67
  35  Tomato          0.785          0.713          -2.190         0              270            0              61
  36  Spoon           0.671          0.760          -0.061         0              0              0              40
  37  Knife           0.149          0.923          1.187          0              270            0              67
  38  Mug             0.669          0.460          -1.725         0              270            0              61
  39  Bowl            -2.038         0.691          -1.003         0              0              0              77
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Move forward to the front right corner of the table to the right of the range. | STEP 2: Pick up the knife with the gold handle to the right of the sponge and to the rear of the fork from the table. | STEP 3: Turn to the right and face the small table to the right of the trash bag in the corner. | STEP 4: Using the knife, slice the gold apple at the rear of the table and between the two salt shakers on the table. | STEP 5: Turn right and move toward the sink then turn left and face the counter area left of the sink. | STEP 6: Place the knife on the counter in front of the salt shaker. | STEP 7: Turn to the left, move toward the trash bag, then turn right and face the small table. | STEP 8: Pick up an apple slice from the sliced apple on the table. | STEP 9: Turn right, move to the sink, and then turn left to face the sink. | STEP 10: Place the apple slice in the front left corner of the sink to the left of the fork, rinse the apple slice using the faucet, then pick up the apple slice from the sink. | STEP 11: Turn left and move to the small table between the trash bag in the corner and the sink. | STEP 12: Place the apple slice in front of the center salt shaker and to the left of the tomato on the small table. | END