Task: To rinse an apple and put it 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           -0.25          0.900          1.0            0              270            0
   1  ButterKnife     -0.715         1.124          0.569          0              0              0              56
   2  ButterKnife     -0.785         1.048          2.144          0              0              0              44
   3  Pot             -3.000         1.133          0.480          0              270            0              49
   4  Pot             -3.373         1.564          2.849          0              90             0              61
   5  Fork            -0.785         1.048          2.593          0              180            0              44
   6  Spoon           -0.827         1.126          0.659          0              0              0              56
   7  Spatula         -1.111         0.946          0.290          0              90             0              66
   8  Spatula         -0.662         1.063          1.920          0              0              0              44
   9  Egg             -0.203         1.258          0.410          0              0              0              67
  10  Cup             -3.307         1.284          3.061          0              90             0              61
  11  Plate           -3.572         1.285          3.061          0              90             0              61
  12  Plate           -0.785         1.045          2.817          0              0              0              44
  13  SoapBottle      -1.663         1.154          0.095          0              0              0              41
  14  Apple           -3.639         0.979          2.849          0              90             0              61
  15  Apple           -0.415         1.295          0.377          0              0              0              67
  16  Apple           -3.798         0.179          1.978          0              0              0              65
  17  Fork            -2.137         1.125          0.567          0              0              0              54
  18  SoapBottle      -0.785         1.048          3.042          0              0              0              44
  19  Pot             -1.195         0.053          0.437          0              0              0              48
  20  Ladle           -2.011         1.164          0.284          0              90             0              54
  21  Potato          -1.199         0.962          0.567          0              0              0              66
  22  Plate           -0.908         1.045          2.144          0              0              0              44
  23  Bread           -0.183         1.119          1.892          0              0              0              44
  24  Lettuce         -0.908         1.125          3.266          0              0              0              44
  25  Spatula         -1.465         0.946          0.428          0              180            0              66
  26  Pan             -0.266         1.038          2.561          0              0              0              44
  27  Egg             -3.696         0.142          1.948          0              0              0              65
  28  Cup             -1.199         0.929          0.290          0              0              0              66
  29  SaltShaker      -1.314         0.045          0.664          0              0              0              48
  30  Knife           -1.553         0.963          0.567          0              270            0              66
  31  Bowl            -1.601         0.046          0.551          0              0              0              59
  32  PepperShaker    -2.509         0.898          0.578          0              0              0              53
  33  ButterKnife     -2.514         1.124          0.379          0              0              0              54
  34  Apple           -3.44          1.627          3.061          0              90             0              61
  35  Tomato          -0.908         1.087          2.369          0              0              0              44
  36  DishSponge      -2.388         1.124          0.095          0              0              0              54
  37  Spoon           -1.288         0.932          0.567          0              90             0              66
  38  Mug             -0.538         1.043          2.817          0              0              0              44
  39  StoveKnob       -3.322         1.053          0.709          45             0              0
  40  StoveBurner     -3.474         1.097          0.227          0              180            0
  41  Sink            -1.394         0.982          0.439          0              0              0
  42  StoveBurner     -3.474         1.097          0.479          0              180            0
  43  StoveKnob       -3.164         1.053          0.709          45             0              0
  44  DiningTable     -0.620         0.017          2.486          0              0              0
  45  Drawer          -2.043         0.608          0.594          0              0              0
  46  Drawer          -2.043         0.216          0.594          0              0              0
  47  Drawer          -2.498         0.216          0.594          0              0              0
  48  Cabinet         -1.001         0.393          0.734          0              0              0
  49  StoveBurner     -3.000         1.097          0.480          0              0              0
  50  StoveKnob       -3.492         1.053          0.709          45             0              0
  51  CounterTop      -3.856         1.160          0.379          0              0              0
  52  Drawer          -2.043         0.937          0.599          0              0              0
  53  Drawer          -2.509         0.937          0.599          0              0              0
  54  CounterTop      -2.280         1.160          0.379          0              0              0
  55  StoveKnob       -2.985         1.053          0.709          45             0              0
  56  CounterTop      -0.514         1.160          0.492          0              0              0
  57  Drawer          -2.498         0.608          0.594          0              0              0
  58  StoveBurner     -3.000         1.097          0.227          0              0              0
  59  Cabinet         -1.733         0.393          0.734          0              0              0
  60  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  61  Fridge          -3.519         0.0            2.717          0              90             0
  62  Window          -1.394         1.924          0.014          90             0              0
  63  Window          -3.266         1.924          0.014          90             0              0
  64  Toaster         -0.225         1.038          2.865          0              270            0
  65  GarbageCan      -3.696         0.002          2.008          0              0              0
  66  SinkBasin       -1.389         0.921          0.428          0              0              0
  67  Microwave       -0.366         1.113          0.430          0              0              0
  68  HousePlant      -2.155         1.101          0.169          0              332.897        0
  69  LightSwitch     -2.584         1.299          3.5            0              180            0
  70  Faucet          -1.393         1.373          0.168          0              270            0
  71  NorthWall
  72  SouthWall
  73  SouthWall

Plan:
STEP 1: Turn left and face the microwave on the counter.  | STEP 2: Open the microwave door, take out the apple to the right of the egg, close the microwave door.  | STEP 3: Walk to the sink to the right of the microwave.  | STEP 4: Put the apple in the sink, rinse the apple with water, take the apple out of the sink.  | STEP 5: Turn around and walk to the table on the right.  | STEP 6: Place the apple down on the table to the right of the lettuce.  | END