Task: Place a rinsed apple slice onto a table located next to a wall.

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          0.0            0              180            0
   1  Pan             2.056          1.323          -0.460         0              180            0              69
   2  Pan             2.140          0.935          1.106          0              0              0              50
   3  Potato          0.033          0.831          1.386          0              0              0              75
   4  WineBottle      -0.396         0.938          2.548          0              0              0              48
   5  Ladle           1.954          0.791          2.197          0              270            0              63
   6  Spatula         -0.425         0.805          0.713          0              90             0              75
   7  Spatula         0.788          0.810          2.529          0              90             0              72
   8  Cup             1.840          0.936          0.435          0              0              0              59
   9  Plate           2.059          0.342          -0.188         0              270            0              69
  10  Plate           0.637          0.085          2.523          0              0              0              55
  11  Bowl            2.179          1.515          -0.188         0              270            0              69
  12  SaltShaker      -0.396         0.932          2.897          0              0              0              48
  13  PepperShaker    -0.349         0.785          0.377          0              0              0              75
  14  Lettuce         -0.042         0.852          1.049          0              90             0              75
  15  Mug             1.905          1.498          2.730          0              0              0              49
  16  Apple           -0.042         0.840          0.881          0              0              0              75
  17  Egg             1.994          0.980          0.361          0              0              0              59
  18  Lettuce         2.122          0.664          -0.460         0              270            0              69
  19  Fork            -0.272         0.791          0.545          0              0              0              75
  20  SoapBottle      0.033          0.791          1.217          0              0              0              75
  21  Ladle           2.205          1.993          1.563          0              0              0              53
  22  Ladle           1.156          0.125          2.523          0              0              0              54
  23  Bread           -0.199         0.823          0.813          0              0              0              75
  24  SaltShaker      -0.272         0.932          2.504          0              0              0              48
  25  Potato          -0.425         0.831          1.217          0              0              0              75
  26  Pan             2.140          0.935          1.504          0              180            0              43
  27  WineBottle      2.206          1.502          2.381          0              0              0              41
  28  Spatula         1.941          0.761          0.721          0              270            0              57
  29  Knife           -0.042         0.816          0.377          0              0              0              75
  30  Tomato          2.137          0.907          -0.188         0              270            0              69
  31  Apple           -0.261         1.085          2.068          0              90             0              73
  32  ButterKnife     -0.041         0.937          2.372          0              0              0              48
  33  Pot             1.854          0.937          1.497          0              0              0              52
  34  PepperShaker    2.167          1.496          2.010          0              0              0              51
  35  Cup             2.167          1.947          1.050          0              0              0              58
  36  DishSponge      2.243          1.948          1.145          0              0              0              58
  37  Plate           -0.196         0.795          1.386          0              0              0              75
  38  Spoon           0.060          0.938          2.548          0              0              0              48
  39  Mug             -0.041         0.076          2.129          0              0              0              42
  40  Bowl            -0.396         0.934          2.757          0              0              0              48
  41  Cabinet         2.041          2.113          2.618          0              0              0
  42  Cabinet         0.126          0.388          1.774          0              0              0
  43  StoveBurner     2.140          0.929          1.504          0              180            0
  44  Cabinet         1.760          0.388          2.346          0              0              0
  45  Cabinet         1.760          0.388          0.869          0              0              0
  46  Cabinet         2.041          1.810          0.283          0              0              0
  47  Drawer          -0.024         0.774          2.061          0              0              0
  48  CounterTop      1.065          0.973          2.666          0              0              0
  49  Cabinet         1.969          2.113          2.618          0              0              0
  50  StoveBurner     2.140          0.929          1.106          0              0              0
  51  Cabinet         2.041          2.113          1.809          0              0              0
  52  StoveBurner     1.866          0.929          1.504          0              180            0
  53  Cabinet         2.041          2.113          1.766          0              0              0
  54  Cabinet         1.514          0.388          2.360          0              0              0
  55  Cabinet         0.351          0.388          2.360          0              0              0
  56  Cabinet         2.041          1.810          0.872          0              0              0
  57  Drawer          2.167          0.774          0.582          0              0              0
  58  Cabinet         2.041          2.113          0.892          0              0              0
  59  CounterTop      2.060          0.973          0.583          0              0              0
  60  Sink            0.935          0.936          2.646          0              0              0
  61  Curtains        0.964          2.061          2.989          0              0              0
  62  StoveBurner     1.863          0.929          1.106          0              0              0
  63  Drawer          1.911          0.774          2.060          0              0              0
  64  StoveKnob       2.326          1.092          1.610          288.013        90             0
  65  StoveKnob       2.326          1.092          1.460          288.013        90             0
  66  StoveKnob       2.326          1.092          1.210          288.013        90             0
  67  StoveKnob       2.326          1.092          1.050          288.013        90             0
  68  Toaster         2.126          0.926          0.572          0              270            0
  69  Fridge          2.104          0.0            -0.279         0              270            0
  70  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  71  LightSwitch     0.354          1.518          -1.031         0              0              0
  72  SinkBasin       0.903          0.784          2.640          0              0              0
  73  Microwave       -0.310         0.926          2.077          0              90             0
  74  CoffeeMachine   2.084          0.927          2.667          0              225            0
  75  DiningTable     -0.153         -0.000         1.073          0              270            0
  76  Faucet          1.175          0.926          2.950          270            90             0
  77  Faucet          0.686          0.926          2.950          270            90             0
  78  Chair           -0.077         0.002          0.196          0              15.000         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn all the way around, take one step forward, turn left, then walk towards the table against the wall. | STEP 2: Pick up the knife from the left side side of the table. | STEP 3: Turn right, take one step then turn left to face the table against the wall. | STEP 4: Take the knife then slice then slice the yellow apple to the left of the green cabbage. | STEP 5: Turn left, take one step then turn right to face the table against the wall. | STEP 6: Place the knife to the right of the yellow apple on the table. | STEP 7: Turn right, take one step then turn left to face the table against the wall. | STEP 8: Pick up a slice of the yellow apple from the table | STEP 9: Turn around then walk towards the stove, turn left then walk towards the sink. | STEP 10: Place the yellow apple slice into the right side of the sink then turn the water on. Rinse the yellow apple slice then turn the water off. | STEP 11: Pick up the yellow apple slice from the right side of the sink, then turn all the way around.  Walk towards the door, then turn right, walk towards the table against the wall.  | STEP 12: Place the yellow apple slice in between the knife and the green cabbage. | END