Task: Place a washed peach 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          -1.5           0              270            0
   1  DishSponge      0.803          0.883          -0.245         0              0              0              39
   2  ButterKnife     0.149          0.900          1.101          0              270            0              65
   3  ButterKnife     0.877          0.883          0.029          0              0              0              39
   4  Spoon           0.720          0.760          -0.188         0              0              0              38
   5  Fork            1.024          0.884          -0.108         0              90             0              39
   6  Fork            -0.051         0.901          1.015          0              90             0              65
   7  Pot             -2.097         0.930          1.049          0              0              0              46
   8  Cup             -1.056         0.899          0.758          0              270            0              65
   9  Cup             0.824          1.373          -1.802         0              270            0              59
  10  Knife           0.623          0.782          0.002          0              270            0              38
  11  Tomato          0.715          0.820          -0.790         0              270            0              62
  12  Tomato          0.708          0.514          -1.725         0              270            0              59
  13  SaltShaker      0.898          0.012          -0.184         0              0              0              49
  14  Bread           0.149          0.944          0.929          0              270            0              65
  15  Mug             0.812          1.458          -0.146         0              0              0              50
  16  Mug             0.149          0.895          1.187          0              270            0              65
  17  Pot             -1.555         0.930          1.049          0              0              0              48
  18  Plate           -2.023         0.692          -1.447         0              0              0              75
  19  Fork            0.721          0.665          0.569          0              0              0              44
  20  SoapBottle      -1.803         0.701          -1.091         0              0              0              75
  21  Apple           -1.187         0.105          -3.574         0              270            0              54
  22  Pan             0.740          -0.007         -0.596         0              0              0              42
  23  Egg             -1.224         0.088          -3.684         0              270            0              54
  24  Spatula         -1.535         0.715          -3.782         0              90             0              66
  25  Potato          0.721          0.698          0.508          0              0              0              44
  26  Cup             0.601          0.663          0.508          0              0              0              44
  27  SaltShaker      -1.535         0.692          -3.361         0              0              0              66
  28  PepperShaker    0.566          0.012          -0.768         0              0              0              42
  29  ButterKnife     -0.453         0.900          0.843          0              270            0              65
  30  DishSponge      0.601          0.664          0.387          0              0              0              44
  31  Bread           0.901          0.708          0.508          0              0              0              44
  32  Lettuce         -0.855         0.987          0.929          0              270            0              65
  33  Tomato          0.781          0.713          0.326          0              0              0              44
  34  Spoon           0.720          0.761          0.002          0              0              0              38
  35  Knife           0.671          0.782          0.002          0              270            0              38
  36  Mug             0.903          1.458          -0.022         0              0              0              50
  37  Bowl            -2.038         0.691          -1.003         0              0              0              75
  38  Drawer          0.706          0.766          -0.125         0              0              0
  39  CounterTop      0.792          0.919          -0.108         0              0              0
  40  Mirror          1.093          1.602          -0.643         0              0              0
  41  StoveBurner     -2.096         0.890          0.785          0              0              0
  42  Cabinet         0.507          0.345          -0.426         0              0              0
  43  StoveBurner     -1.552         0.890          0.785          0              0              0
  44  SideTable       0.770          -0.030         0.443          0              0              0
  45  Sink            0.753          0.882          -0.680         0              0              0
  46  StoveBurner     -2.096         0.890          1.049          0              0              0
  47  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  48  StoveBurner     -1.554         0.890          1.049          0              0              0
  49  Cabinet         0.507          0.345          0.156          0              0              0
  50  Cabinet         0.717          1.822          -0.398         0              0              0
  51  Cabinet         0.717          1.822          0.669          0              0              0
  52  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  53  Toaster         -0.522         0.886          1.081          0              180            0
  54  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  55  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  56  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  57  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  59  Fridge          0.680          -0.031         -1.957         0              0              0
  60  Window          -2.424         1.639          -2.453         90             270            0
  61  Microwave       -1.994         0.690          -3.651         0              0              0
  62  SinkBasin       0.757          0.762          -0.688         0              270            0
  63  LightSwitch     1.102          1.368          -3.737         0              270            0
  64  Shelf           -0.350         0.124          0.857          0              0              0
  65  DiningTable     -0.350         -0.025         0.857          0              0              0
  66  DiningTable     -1.909         -0.032         -3.507         0              0              0
  67  Blinds          -2.343         2.151          -2.437         0              270            0
  68  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  69  AluminumFoil    0.751          0.225          0.287          0              0              0
  70  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  71  Shelf           0.771          0.226          0.445          0              0              0
  72  Shelf           0.771          0.456          0.446          0              0              0
  73  Faucet          1.025          0.873          -0.678         270            180            0
  74  Shelf           -0.350         0.497          0.857          0              0              0
  75  DiningTable     -1.929         -0.035         -1.398         0              90             0
  76  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn right and move to the table next to the oven then turn right and face the small table next to the trash bag on the floor. | STEP 2: Pick up the peach to the right of the fork from the table. | STEP 3: Turn right, move forward past the kitchen counter, then turn left at the sink. | STEP 4: Place the peach in the sink in the corner closest to you then turn on the water to wash it. | STEP 5: Pick up the peach from the sink, turn around, move towards the table with the toaster on it, then turn around and face the small table next to the trash bag. | STEP 6: Place the peach to the right of the sponge on the corner of the table. | END