Task: Pick up an apple, wash it and set it down on a 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          -2.0           0              90             0
   1  Pan             -1.552         0.930          0.785          0              0              0              44
   2  Potato          0.708          1.407          -1.958         0              270            0              60
   3  Potato          0.672          0.805          -0.515         0              270            0              63
   4  Fork            0.866          0.760          -0.252         0              90             0              39
   5  Egg             0.672          0.809          -0.625         0              270            0              63
   6  Egg             -1.578         0.733          -3.614         0              0              0              67
   7  Cup             0.672          0.771          -0.790         0              270            0              63
   8  Tomato          -1.556         0.748          -3.445         0              0              0              67
   9  Tomato          0.669          1.423          -2.113         0              270            0              60
  10  Bowl            -0.051         0.899          1.187          0              270            0              66
  11  PepperShaker    1.040          1.460          0.411          0              0              0              52
  12  PepperShaker    0.676          0.012          -0.833         0              0              0              43
  13  Bread           -1.056         0.944          1.101          0              270            0              66
  14  Lettuce         0.708          0.751          -2.113         0              270            0              60
  15  Mug             0.824          0.660          -1.725         0              270            0              60
  16  Apple           -1.599         0.750          -3.698         0              0              0              67
  17  Apple           -1.843         0.852          -3.738         0              0              0              62
  18  Pot             -2.071         0.927          0.772          0              266.284        0              42
  19  Plate           0.787          0.019          -0.184         0              0              0              50
  20  Fork            -1.803         0.702          -1.524         0              0              0              76
  21  SoapBottle      0.729          0.882          -0.245         0              0              0              40
  22  Apple           -1.334         0.105          -3.574         0              270            0              55
  23  Pan             -1.719         0.700          -0.983         0              0              0              76
  24  Egg             -1.224         0.088          -3.574         0              270            0              55
  25  Spatula         0.671          0.774          -0.252         0              90             0              39
  26  Potato          0.961          0.697          0.265          0              0              0              45
  27  Cup             0.721          0.663          0.265          0              0              0              45
  28  SaltShaker      0.961          0.660          0.387          0              0              0              45
  29  PepperShaker    0.601          0.660          0.508          0              0              0              45
  30  ButterKnife     0.877          0.883          0.029          0              0              0              40
  31  DishSponge      0.950          0.883          0.029          0              0              0              40
  32  Bread           -0.252         0.944          0.929          0              270            0              66
  33  Lettuce         0.781          0.752          0.569          0              0              0              45
  34  Tomato          -1.578         0.744          -3.276         0              0              0              67
  35  Spoon           -1.719         0.702          -1.307         0              0              0              76
  36  Knife           0.623          0.782          0.002          0              270            0              39
  37  Mug             0.841          0.767          -0.845         0              0              0              63
  38  Bowl            -0.855         0.899          0.843          0              270            0              66
  39  Drawer          0.706          0.766          -0.125         0              0              0
  40  CounterTop      0.792          0.919          -0.108         0              0              0
  41  Mirror          1.093          1.602          -0.643         0              0              0
  42  StoveBurner     -2.096         0.890          0.785          0              0              0
  43  Cabinet         0.507          0.345          -0.426         0              0              0
  44  StoveBurner     -1.552         0.890          0.785          0              0              0
  45  SideTable       0.770          -0.030         0.443          0              0              0
  46  Sink            0.753          0.882          -0.680         0              0              0
  47  StoveBurner     -2.096         0.890          1.049          0              0              0
  48  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  49  StoveBurner     -1.554         0.890          1.049          0              0              0
  50  Cabinet         0.507          0.345          0.156          0              0              0
  51  Cabinet         0.717          1.822          -0.398         0              0              0
  52  Cabinet         0.717          1.822          0.669          0              0              0
  53  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  54  Toaster         -0.522         0.886          1.081          0              180            0
  55  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  56  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  58  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  60  Fridge          0.680          -0.031         -1.957         0              0              0
  61  Window          -2.424         1.639          -2.453         90             270            0
  62  Microwave       -1.994         0.690          -3.651         0              0              0
  63  SinkBasin       0.757          0.762          -0.688         0              270            0
  64  LightSwitch     1.102          1.368          -3.737         0              270            0
  65  Shelf           -0.350         0.124          0.857          0              0              0
  66  DiningTable     -0.350         -0.025         0.857          0              0              0
  67  DiningTable     -1.909         -0.032         -3.507         0              0              0
  68  Blinds          -2.343         2.151          -2.437         0              270            0
  69  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  70  AluminumFoil    0.751          0.225          0.287          0              0              0
  71  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  72  Shelf           0.771          0.226          0.445          0              0              0
  73  Shelf           0.771          0.456          0.446          0              0              0
  74  Faucet          1.025          0.873          -0.678         270            180            0
  75  Shelf           -0.350         0.497          0.857          0              0              0
  76  DiningTable     -1.929         -0.035         -1.398         0              90             0
  77  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn to your right twice so that you are facing the trash can | STEP 2: Pick up an apple from the trash can | STEP 3: Turn to your right twice so that you end up facing the sink | STEP 4: Put the apple in the sink and run the faucet for a few seconds, then pick the apple back up | STEP 5: Take a step to your left so that you face a small black table | STEP 6: Set the apple down on the black table | END