Task: To clean an apple and put it back in it's spot.

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          0.0            0              0              0
   1  Potato          0.841          0.697          0.265          0              0              0              46
   2  DishSponge      0.582          0.883          -0.176         0              0              0              41
   3  DishSponge      0.149          0.900          1.187          0              270            0              67
   4  Spoon           0.817          0.760          0.002          0              90             0              40
   5  Spoon           0.757          0.773          -0.735         0              270            0              64
   6  Fork            -1.535         0.700          -3.614         0              90             0              68
   7  Pot             -2.097         0.930          0.785          0              0              0              43
   8  Pot             -0.252         0.899          1.015          0              270            0              67
   9  Egg             0.669          0.502          -2.113         0              270            0              61
  10  Egg             0.857          0.310          -1.725         0              270            0              61
  11  Plate           -1.719         0.705          -1.199         0              0              0              77
  12  Tomato          -1.578         0.748          -3.782         0              0              0              68
  13  Tomato          -1.056         0.949          1.187          0              270            0              67
  14  SoapBottle      -0.855         0.899          1.187          0              270            0              67
  15  Bowl            0.858          1.462          -0.207         0              0              0              52
  16  PepperShaker    0.601          0.661          0.630          0              0              0              46
  17  Apple           0.669          1.428          -1.957         0              270            0              61
  18  Apple           -1.896         0.852          -3.705         0              0              0              63
  19  Pot             -1.555         0.930          1.049          0              0              0              50
  20  Plate           0.676          0.019          -0.184         0              0              0              51
  21  Fork            -2.054         0.702          -1.199         0              0              0              77
  22  SoapBottle      0.781          0.664          0.387          0              0              0              46
  23  Apple           0.601          0.718          0.508          0              0              0              46
  24  Pan             0.740          -0.007         -0.596         0              0              0              44
  25  Egg             -1.790         0.836          -3.705         0              0              0              63
  26  Spatula         -1.886         0.716          -0.875         0              0              0              77
  27  Potato          1.025          0.916          -0.460         0              0              0              41
  28  Cup             0.601          0.663          0.326          0              0              0              46
  29  SaltShaker      -1.599         0.692          -3.361         0              0              0              68
  30  PepperShaker    0.621          0.012          -0.898         0              0              0              44
  31  ButterKnife     0.950          0.883          -0.245         0              0              0              41
  32  DishSponge      0.582          0.883          -0.039         0              0              0              41
  33  Bread           -2.054         0.745          -1.416         0              0              0              77
  34  Lettuce         -1.085         0.973          0.955          41.329         2.703          4.713          67
  35  Tomato          -1.261         0.100          -3.537         0              270            0              56
  36  Spoon           0.757          0.773          -0.570         0              270            0              64
  37  Knife           0.574          0.782          0.002          0              270            0              40
  38  Mug             0.785          0.460          -1.725         0              270            0              61
  39  Bowl            0.149          0.899          0.929          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 to the right and walk forward to face the black table. | STEP 2: Pick up the apple on the black table. | STEP 3: Step to the right to face the sink. | STEP 4: Put the apple in the sink, wash it, and pick it back up. | STEP 5: Step to the left to face the black table. | STEP 6: Place the apple on the black table. | END