Task: Put a clean apple 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           -0.5           0.869          -1.5           0              180            0
   1  Spatula         0.803          0.898          0.029          0              0              0              44
   2  Spatula         -1.635         0.716          -1.416         0              90             0              80
   3  Spoon           0.950          0.884          -0.176         0              0              0              44
   4  Spoon           0.721          0.665          0.326          0              90             0              49
   5  Fork            0.720          0.760          -0.124         0              90             0              43
   6  Fork            0.781          0.665          0.569          0              0              0              49
   7  Egg             0.883          0.809          -0.735         0              270            0              67
   8  Cup             -1.599         0.695          -3.614         0              0              0              71
   9  Cup             0.729          0.882          -0.245         0              0              0              44
  10  Plate           0.676          0.019          -0.119         0              0              0              54
  11  Knife           -1.801         0.707          -1.430         297.102        355.305        0              80
  12  Tomato          0.708          1.423          -1.880         0              270            0              64
  13  SoapBottle      -1.886         0.701          -1.199         0              0              0              80
  14  Bowl            0.903          1.462          0.349          0              0              0              56
  15  SaltShaker      0.877          0.879          -0.108         0              0              0              44
  16  SaltShaker      0.661          0.661          0.630          0              0              0              49
  17  Bread           -0.051         0.944          1.101          0              270            0              70
  18  Mug             0.746          0.460          -1.802         0              270            0              64
  19  Apple           0.661          0.718          0.387          0              0              0              49
  20  Apple           -1.599         0.753          -3.445         0              0              0              71
  21  Apple           -1.224         0.105          -3.647         0              270            0              59
  22  Pot             -1.555         0.930          1.049          0              0              0              53
  23  Plate           -2.025         0.692          -1.448         0              0              358.690        80
  24  Fork            0.623          0.760          0.002          0              270            0              43
  25  SoapBottle      -1.056         0.899          1.187          0              270            0              70
  26  Apple           0.601          0.718          0.508          0              0              0              49
  27  Pan             -2.097         0.930          1.049          0              0              0              51
  28  Egg             0.630          0.701          -2.035         0              270            0              64
  29  Spatula         0.817          0.775          -0.188         0              90             0              43
  30  Potato          -2.054         0.734          -0.875         0              0              0              80
  31  Cup             -1.599         0.695          -3.782         0              0              0              71
  32  SaltShaker      0.149          0.896          0.843          0              270            0              70
  33  PepperShaker    0.858          1.460          0.534          0              0              0              56
  34  ButterKnife     0.769          0.759          -0.061         0              90             0              43
  35  DishSponge      0.149          0.900          1.101          0              270            0              70
  36  Bread           0.901          0.708          0.508          0              0              0              49
  37  Lettuce         -1.085         0.973          0.955          41.329         2.703          4.713          70
  38  Tomato          0.669          0.713          -1.880         0              270            0              64
  39  Spoon           0.757          0.773          -0.570         0              270            0              67
  40  Knife           0.671          0.782          -0.252         0              90             0              43
  41  Mug             0.698          0.941          -1.360         0              270            0              57
  42  Bowl            0.903          1.462          -0.207         0              0              0              55
  43  Drawer          0.706          0.766          -0.125         0              0              0
  44  CounterTop      0.792          0.919          -0.108         0              0              0
  45  Mirror          1.093          1.602          -0.643         0              0              0
  46  StoveBurner     -2.096         0.890          0.785          0              0              0
  47  Cabinet         0.507          0.345          -0.426         0              0              0
  48  StoveBurner     -1.552         0.890          0.785          0              0              0
  49  SideTable       0.770          -0.030         0.443          0              0              0
  50  Sink            0.753          0.882          -0.680         0              0              0
  51  StoveBurner     -2.096         0.890          1.049          0              0              0
  52  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  53  StoveBurner     -1.554         0.890          1.049          0              0              0
  54  Cabinet         0.507          0.345          0.156          0              0              0
  55  Cabinet         0.717          1.822          -0.398         0              0              0
  56  Cabinet         0.717          1.822          0.669          0              0              0
  57  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  58  Toaster         -0.522         0.886          1.081          0              180            0
  59  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  60  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  61  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  62  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  63  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  64  Fridge          0.680          -0.031         -1.957         0              0              0
  65  Window          -2.424         1.639          -2.453         90             270            0
  66  Microwave       -1.994         0.690          -3.651         0              0              0
  67  SinkBasin       0.757          0.762          -0.688         0              270            0
  68  LightSwitch     1.102          1.368          -3.737         0              270            0
  69  Shelf           -0.350         0.124          0.857          0              0              0
  70  DiningTable     -0.350         -0.025         0.857          0              0              0
  71  DiningTable     -1.909         -0.032         -3.507         0              0              0
  72  Blinds          -2.343         2.151          -2.437         0              270            0
  73  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  74  AluminumFoil    0.751          0.225          0.287          0              0              0
  75  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  76  Shelf           0.771          0.226          0.445          0              0              0
  77  Shelf           0.771          0.456          0.446          0              0              0
  78  Faucet          1.025          0.873          -0.678         270            180            0
  79  Shelf           -0.350         0.497          0.857          0              0              0
  80  DiningTable     -1.929         -0.035         -1.398         0              90             0
  81  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn around and walk to the toaster then turn right and walk to the small black table. | STEP 2: Pick up the apple that's to the right of another apple on the small black table. | STEP 3: Take a step to your right so you're in front of the sink facing it. | STEP 4: Wash the apple in the sink then take it back out and close the tap. | STEP 5: Turn around and take a step then turn right and walk to the table.  | STEP 6: Put the apple to the left of the salt shaker and below the loaf of bread. | END