Task: Rinse an apple and place it 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           -1.0           0.869          0.25           0              180            0
   1  Potato          0.824          0.498          -2.035         0              270            0              61
   2  DishSponge      -1.578         0.699          -3.276         0              0              0              68
   3  Spatula         0.574          0.775          -0.252         0              90             0              40
   4  Cup             0.824          1.373          -1.958         0              270            0              61
   5  Cup             0.621          0.014          -0.768         0              0              0              44
   6  Plate           0.676          0.019          -0.119         0              0              0              51
   7  Knife           0.769          0.783          -0.252         0              90             0              40
   8  Knife           0.950          0.906          -0.245         0              90             0              41
   9  SoapBottle      -1.635         0.701          -1.524         0              0              0              77
  10  SoapBottle      0.803          0.882          -0.314         0              0              0              41
  11  Bowl            0.903          1.462          -0.207         0              0              0              52
  12  SaltShaker      0.149          0.896          1.187          0              270            0              67
  13  SaltShaker      0.901          0.660          0.448          0              0              0              46
  14  Bread           0.661          0.708          0.387          0              0              0              46
  15  Lettuce         0.746          0.751          -2.035         0              270            0              61
  16  Mug             -1.949         0.794          -3.705         0              0              0              63
  17  Mug             0.901          0.659          0.630          0              0              0              46
  18  Apple           0.661          0.718          0.569          0              0              0              46
  19  Pot             -2.097         0.930          1.049          0              0              0              48
  20  Plate           -2.054         0.705          -0.983         0              0              0              77
  21  Fork            0.799          0.773          -0.625         0              0              0              64
  22  SoapBottle      -1.297         0.051          -3.611         0              270            0              56
  23  Apple           -0.252         0.954          0.758          0              270            0              67
  24  Pan             -1.552         0.930          0.785          0              0              0              45
  25  Egg             0.630          0.701          -1.880         0              270            0              61
  26  Spatula         0.841          0.787          -0.790         0              0              0              64
  27  Potato          -0.654         0.933          1.272          0              0              0              67
  28  Cup             -1.556         0.695          -3.614         0              0              0              68
  29  SaltShaker      0.781          0.661          0.508          0              0              0              46
  30  PepperShaker    0.729          0.879          0.029          0              0              0              41
  31  ButterKnife     -1.886         0.701          -0.875         0              0              0              77
  32  DishSponge      0.720          0.759          0.002          0              0              0              40
  33  Bread           -1.719         0.745          -1.307         0              0              0              77
  34  Lettuce         -1.084         0.973          0.955          41.387         2.224          3.882          67
  35  Tomato          0.729          0.931          -0.108         0              0              0              41
  36  Spoon           0.671          0.760          -0.252         0              0              0              40
  37  Knife           1.070          0.906          -0.762         0              90             0              41
  38  Mug             0.698          0.941          -1.360         0              270            0              54
  39  Bowl            0.149          0.899          1.015          0              270            0              67
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn left and go back to the black table. | STEP 2: Pick up the apple from the left side of the table. | STEP 3: Take the apple and move to the right to go to the sink. | STEP 4: Place the apple in the sink and turn the water on. Turn the water off and pick up the apple. | STEP 5: Carry the apple and turn around to go to the white table on the right. | STEP 6: Place the apple on the white table, to the right of the apple already there. | END