Task: Rinse an apple and put it in the fridge

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           0.900          3.25           0              0              0
   1  DishSponge      -1.362         0.697          3.857          0              0              0              81
   2  Spatula         0.927          0.823          2.372          1.077          180            356.838        51
   3  Spoon           1.024          0.824          0.984          0              0              0              46
   4  Spoon           -1.317         0.901          1.143          0              0              0              87
   5  Fork            0.668          0.692          2.496          0              90             0              43
   6  Fork            0.635          0.691          0.944          0              90             0              57
   7  Egg             -1.694         1.395          3.967          0              180            0              75
   8  Cup             -2.498         0.718          1.840          0              90             0              78
   9  Cup             -1.309         0.697          3.774          0              0              0              81
  10  Knife           0.650          0.846          0.939          0              90             0              46
  11  Knife           1.099          0.846          0.939          0              90             0              46
  12  SoapBottle      0.902          0.023          2.918          0              0              0              80
  13  PepperShaker    -1.185         0.896          1.349          0              90             0              87
  14  SaltShaker      -0.789         0.896          1.555          0              90             0              87
  15  SaltShaker      1.099          0.819          2.198          0              0              0              51
  16  Mug             -2.098         1.393          3.936          0              0              0              47
  17  Mug             -1.486         1.354          3.934          0              180            0              75
  18  Plate           -1.255         1.687          3.897          0              0              0              74
  19  Fork            0.703          0.691          1.016          0              270            0              57
  20  Bread           0.825          0.866          2.449          0              0              2.005          46
  21  Spatula         -2.779         0.838          3.331          0              90             0              69
  22  PaperTowelRoll  -0.524         1.004          0.937          0              90             0              87
  23  Potato          -0.657         0.943          0.937          0              90             0              87
  24  SoapBottle      -1.336         0.822          3.545          0              0              0              69
  25  Egg             -2.403         0.803          2.165          0              90             0              78
  26  Cup             -1.138         0.822          3.637          0              0              0              69
  27  Pot             0.642          0.850          1.768          0              0              0              73
  28  SaltShaker      -2.658         1.630          3.133          0              0              0              65
  29  Pan             -2.667         0.812          3.74           0              137.145        0              69
  30  PepperShaker    -1.317         0.896          1.452          0              90             0              87
  31  ButterKnife     -0.921         0.900          1.349          0              90             0              87
  32  Tomato          -0.657         0.969          1.246          0              90             0              87
  33  DishSponge      -1.053         0.900          1.452          0              90             0              87
  34  Lettuce         -2.519         0.843          2.333          0              90             0              78
  35  Spoon           -0.657         0.901          1.555          0              180            0              87
  36  Apple           1.024          0.884          2.545          0              0              0              51
  37  Knife           -0.524         0.923          1.143          0              90             0              87
  38  Mug             -1.109         0.940          1.203          0              0              0              87
  39  Bowl            -2.504         1.847          1.853          0              0              0              71
  40  Drawer          0.729          0.703          2.199          0              0              0
  41  Cabinet         -1.962         1.926          3.733          0              0              0
  42  Cabinet         -2.377         2.014          1.058          0              0              0
  43  Drawer          0.729          0.703          2.532          0              0              0
  44  Cabinet         -2.622         1.925          3.733          0              0              0
  45  StoveBurner     0.913          0.843          1.375          0              0              0
  46  CounterTop      0.864          0.858          0.984          0              0              0
  47  Cabinet         -1.976         1.779          3.734          0              0              0
  48  Cabinet         0.580          0.385          0.819          0              0              0
  49  Cabinet         -2.379         1.408          1.677          0              0              0
  50  Cabinet         -0.419         1.703          3.736          0              0              0
  51  CounterTop      0.864          0.858          2.371          0              0              0
  52  Sink            -1.702         0.726          3.828          0              180            0
  53  Cabinet         0.580          0.385          2.694          0              0              0
  54  Cabinet         -2.379         0.637          1.677          0              0              0
  55  Cabinet         -0.419         0.674          3.736          0              0              0
  56  Cabinet         -2.377         2.014          2.558          0              0              0
  57  Drawer          0.729          0.703          0.980          0              0              0
  58  Drawer          -2.114         0.706          3.657          0              0              0
  59  Cabinet         -2.377         1.691          2.572          0              0              0
  60  Cabinet         -2.951         1.925          3.733          0              0              0
  61  Cabinet         0.580          0.385          2.360          0              0              0
  62  Cabinet         -2.426         0.435          3.421          0              0              0
  63  StoveBurner     0.642          0.843          1.375          0              0              0
  64  Cabinet         -2.377         1.927          1.686          0              0              0
  65  Cabinet         -2.377         2.013          3.177          0              0              0
  66  Cabinet         -1.136         0.385          3.516          0              0              0
  67  StoveBurner     0.913          0.843          1.768          0              0              0
  68  Cabinet         -1.974         0.385          3.516          0              0              0
  69  CounterTop      -2.081         0.858          3.799          0              0              0
  70  Cabinet         -2.426         0.435          3.174          0              0              0
  71  Cabinet         -2.377         2.014          1.693          0              0              0
  72  Cabinet         -1.986         0.385          3.511          0              0              0
  73  StoveBurner     0.642          0.843          1.768          0              0              0
  74  Cabinet         -1.098         1.926          3.729          0              0              0
  75  Microwave       -1.529         1.250          3.881          1.622          180            0
  76  CoffeeMachine   1.000          0.812          2.492          0              270            0
  77  LightSwitch     0.825          1.396          4.082          0              180            0
  78  Fridge          -2.642         0.0            2.134          0              180            0
  79  Window          -1.131         1.673          0.808          90             0              0
  80  GarbageCan      0.931          -0.000         2.918          0              0              0
  81  SinkBasin       -1.601         0.686          3.774          0              0              0
  82  StoveKnob       1.104          1.002          1.886          0              0              70.346
  83  StoveKnob       1.104          1.002          1.733          0              0              70.346
  84  StoveKnob       1.104          1.002          1.321          0              0              70.346
  85  StoveKnob       1.104          1.002          1.481          0              0              70.346
  86  Toaster         -2.247         0.812          3.862          0              180            0
  87  DiningTable     -0.917         -0.000         1.203          0              0              0
  88  Stool           -0.932         0.000          1.404          1.196          21.715         0
  89  Faucet          -1.842         0.809          3.984          0              180            0
  90  Faucet          -1.371         0.809          3.985          0              180            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn around and then head left to the kitchen counter | STEP 2: Pick up an apple off of the kitchen counter | STEP 3: Turn around and then head right so you are facing the left sink | STEP 4: Drop the apple in the right sink, run the faucet for a few seconds and pick up the apple again | STEP 5: Turn around and then turn right to face the fridge | STEP 6: Open the fridge, set the apple inside and close the door | END