Task: Slice an apple or vegetable followed by rinsing it

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            0.901          -0.5           0              270            0
   1  Pan             2.140          0.935          1.504          0              180            0              49
   2  Potato          2.024          1.559          -0.188         0              270            0              75
   3  WineBottle      -0.425         0.791          0.881          0              0              0              81
   4  WineBottle      -0.041         0.082          1.857          0              0              0              48
   5  Spatula         -0.042         0.805          0.881          0              90             0              81
   6  Spoon           0.002          0.747          2.129          0              0              0              53
   7  Fork            -0.119         0.791          0.377          0              0              0              81
   8  Fork            1.917          0.938          0.361          0              0              0              65
   9  Egg             1.844          0.980          1.866          0              0              0              54
  10  Egg             -0.053         0.980          2.618          0              0              0              54
  11  Cup             -0.395         1.034          1.961          0              90             0              79
  12  Cup             0.033          0.789          0.881          0              0              0              81
  13  Tomato          -0.272         0.837          1.217          0              0              0              81
  14  SaltShaker      -0.196         0.785          1.049          0              0              0              81
  15  PepperShaker    2.127          1.498          0.665          0              0              0              62
  16  PepperShaker    2.304          0.932          2.458          0              90             0              54
  17  Lettuce         -0.042         0.852          0.545          0              0              0              81
  18  Mug             -0.294         1.030          1.961          0              90             0              79
  19  Mug             2.064          0.989          2.462          0              225            0              80
  20  Apple           -0.119         0.840          1.217          0              0              0              81
  21  Apple           2.168          1.373          -0.188         0              270            0              75
  22  Apple           2.079          0.652          -0.550         0              270            0              75
  23  Egg             -0.349         0.833          0.377          0              0              0              81
  24  Lettuce         2.059          0.400          -0.279         0              270            0              75
  25  Fork            -0.349         0.791          1.049          0              0              0              81
  26  SoapBottle      2.280          1.504          0.665          0              0              0              62
  27  Ladle           1.923          0.126          0.583          0              0              0              51
  28  Ladle           1.989          0.790          1.922          0              90             0              69
  29  Bread           -0.199         0.823          0.813          0              0              0              81
  30  SaltShaker      2.091          1.496          2.337          0              90             0              47
  31  Potato          2.132          0.378          -0.550         0              270            0              75
  32  Pan             1.298          0.081          2.523          0              90             0              60
  33  WineBottle      -0.042         0.791          0.713          0              0              0              81
  34  Spatula         -0.053         0.952          2.478          0              180            0              54
  35  Knife           0.033          0.816          0.377          0              90             0              81
  36  Tomato          2.076          1.565          -0.369         0              270            0              75
  37  Apple           -0.395         1.085          2.121          0              90             0              79
  38  ButterKnife     0.060          0.937          2.757          0              0              0              54
  39  Pot             1.854          0.937          1.497          0              0              0              58
  40  PepperShaker    -0.272         0.785          1.386          0              0              0              81
  41  Cup             -0.078         0.079          2.265          0              0              0              48
  42  DishSponge      1.994          0.937          0.806          0              0              0              65
  43  Plate           -0.312         0.781          0.409          0              0              0              81
  44  Spoon           1.917          0.939          0.583          0              0              0              65
  45  Mug             1.276          0.790          2.64           0              0              0              78
  46  Bowl            1.964          0.078          1.986          0              0              0              50
  47  Cabinet         2.041          2.113          2.618          0              0              0
  48  Cabinet         0.126          0.388          1.774          0              0              0
  49  StoveBurner     2.140          0.929          1.504          0              180            0
  50  Cabinet         1.760          0.388          2.346          0              0              0
  51  Cabinet         1.760          0.388          0.869          0              0              0
  52  Cabinet         2.041          1.810          0.283          0              0              0
  53  Drawer          -0.024         0.774          2.061          0              0              0
  54  CounterTop      1.065          0.973          2.666          0              0              0
  55  Cabinet         1.969          2.113          2.618          0              0              0
  56  StoveBurner     2.140          0.929          1.106          0              0              0
  57  Cabinet         2.041          2.113          1.809          0              0              0
  58  StoveBurner     1.866          0.929          1.504          0              180            0
  59  Cabinet         2.041          2.113          1.766          0              0              0
  60  Cabinet         1.514          0.388          2.360          0              0              0
  61  Cabinet         0.351          0.388          2.360          0              0              0
  62  Cabinet         2.041          1.810          0.872          0              0              0
  63  Drawer          2.167          0.774          0.582          0              0              0
  64  Cabinet         2.041          2.113          0.892          0              0              0
  65  CounterTop      2.060          0.973          0.583          0              0              0
  66  Sink            0.935          0.936          2.646          0              0              0
  67  Curtains        0.964          2.061          2.989          0              0              0
  68  StoveBurner     1.863          0.929          1.106          0              0              0
  69  Drawer          1.911          0.774          2.060          0              0              0
  70  StoveKnob       2.326          1.092          1.610          288.013        90             0
  71  StoveKnob       2.326          1.092          1.460          288.013        90             0
  72  StoveKnob       2.326          1.092          1.210          288.013        90             0
  73  StoveKnob       2.326          1.092          1.050          288.013        90             0
  74  Toaster         2.126          0.926          0.572          0              270            0
  75  Fridge          2.104          0.0            -0.279         0              270            0
  76  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  77  LightSwitch     0.354          1.518          -1.031         0              0              0
  78  SinkBasin       0.903          0.784          2.640          0              0              0
  79  Microwave       -0.310         0.926          2.077          0              90             0
  80  CoffeeMachine   2.084          0.927          2.667          0              225            0
  81  DiningTable     -0.153         -0.000         1.073          0              270            0
  82  Faucet          1.175          0.926          2.950          270            90             0
  83  Faucet          0.686          0.926          2.950          270            90             0
  84  Chair           -0.077         0.002          0.196          0              15.000         0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn to the right and walk to the white kitchen table on your left | STEP 2: Pick up the yellow handled knife on the table | STEP 3: Walk to the right end of the kitchen table and face it | STEP 4: Slice a apple on the table | STEP 5: Walk back to the left side of the kitchen table | STEP 6: Place the knife on top of the green lettuce head | STEP 7: Walk to the right end of the kitchen table and face it | STEP 8: Pick up the slice of apple on the table | STEP 9: Turn around and walk to the left and face the kitchen sink | STEP 10: Place the slice of apple in the sink and rinse it, then remove it | STEP 11: Turn around and walk to the end of the kitchen and face the table on the right | STEP 12: Place the apple slice back on the table | END