Task: Put a clean apple 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           -1.75          0.869          -0.25          0              90             0
   1  Potato          0.877          0.916          0.098          0              0              0              39
   2  Potato          0.721          0.697          0.265          0              0              0              44
   3  DishSponge      0.672          0.772          -0.625         0              270            0              62
   4  ButterKnife     -1.719         0.701          -1.091         0              0              0              75
   5  ButterKnife     0.721          0.664          0.326          0              0              0              44
   6  Fork            0.866          0.761          -0.124         0              90             0              38
   7  Pot             -2.097         0.930          0.785          0              0              0              41
   8  Tomato          0.824          0.514          -2.113         0              270            0              59
   9  SaltShaker      -0.654         0.896          1.272          0              270            0              65
  10  SaltShaker      1.040          1.460          -0.269         0              0              0              50
  11  Bread           -1.719         0.745          -1.416         0              0              0              75
  12  Lettuce         -0.051         0.987          1.015          0              270            0              65
  13  Lettuce         -0.252         0.987          1.101          0              270            0              65
  14  Mug             0.841          0.767          -0.790         0              270            0              62
  15  Apple           -1.334         0.105          -3.574         0              270            0              54
  16  Apple           0.961          0.718          0.569          0              0              0              44
  17  Pot             -1.552         0.930          0.785          0              0              0              43
  18  Plate           -2.024         0.692          -1.447         0              0              0              75
  19  Fork            0.901          0.665          0.508          0              0              0              44
  20  SoapBottle      -2.137         0.701          -0.983         0              0              0              75
  21  Apple           -1.843         0.852          -3.705         0              0              0              61
  22  Pan             0.740          -0.007         -0.596         0              0              0              42
  23  Egg             0.961          0.702          0.448          0              0              0              44
  24  Spatula         0.769          0.775          -0.252         0              90             0              38
  25  Potato          -1.599         0.729          -3.361         0              0              0              66
  26  Cup             0.601          0.663          0.448          0              0              0              44
  27  SaltShaker      1.024          0.879          0.098          0              0              0              39
  28  PepperShaker    0.676          0.012          -0.315         0              0              0              49
  29  ButterKnife     0.729          0.883          -0.176         0              0              0              39
  30  DishSponge      -1.224         0.051          -3.611         0              270            0              54
  31  Bread           -0.873         0.931          0.978          0              24.231         0              65
  32  Lettuce         0.781          0.751          0.508          0              0              0              44
  33  Tomato          -1.578         0.744          -3.698         0              0              0              66
  34  Spoon           0.757          0.773          -0.680         0              270            0              62
  35  Knife           0.817          0.782          -0.061         0              270            0              38
  36  Mug             -2.002         0.794          -3.738         0              0              0              61
  37  Bowl            0.903          1.462          -0.084         0              0              0              50
  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: Go forward, turn left towards the white table, turn right, go forward to the small black table.  | STEP 2: Pick up the apple from the back of the table.  | STEP 3: Turn right, go forward to the sink that is on the left,  | STEP 4: Put the apple in the sink, rinse it off, and pick it back up. | STEP 5: Turn to the left, go forward to the white table that has lettuce on it.  | STEP 6: Put the apple on the table in front of the lettuce.  | END