Task: Put a washed apple 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           -1.25          0.901          -3.25          0              0              0
   1  Potato          -1.776         0.834          -3.704         0              0              0              84
   2  Spatula         -2.803         0.728          -0.638         0              270            0              86
   3  Spatula         -3.167         0.928          -3.729         0              0              0              42
   4  Spoon           -0.338         0.917          -0.524         0              0              0              69
   5  Fork            -0.530         0.747          -1.486         0              90             0              65
   6  Egg             -0.220         1.048          -0.802         0              270            0              79
   7  Cup             -3.140         0.914          -3.327         0              0              0              42
   8  Cup             -3.127         1.868          -2.450         0              0              0              51
   9  Plate           -3.079         0.639          -2.125         0              90             0              83
  10  Plate           -3.130         1.011          -2.125         0              90             0              83
  11  Knife           -2.532         0.749          -0.564         0              225            0              86
  12  Knife           -2.629         0.946          -3.581         0              0              0              42
  13  SoapBottle      -0.144         1.294          -1.656         0              0              0              48
  14  Bowl            -0.447         0.911          -3.804         0              0              0              42
  15  Bowl            -3.292         0.714          -0.433         0              270            0              86
  16  SaltShaker      -0.854         0.910          -3.804         0              0              0              42
  17  SaltShaker      -0.338         0.912          -1.309         0              0              0              69
  18  PepperShaker    -2.777         0.713          -0.407         0              135            0              86
  19  Bread           -3.022         0.754          -0.741         0              225            0              86
  20  Apple           -3.182         0.683          -1.879         0              90             0              83
  21  Pot             -0.376         0.975          -2.031         0              180            0              71
  22  Egg             -0.500         0.951          -1.616         0              0              0              69
  23  Cup             -2.803         0.717          -0.069         0              0              0              86
  24  Bread           -0.160         0.954          -3.012         0              0              0              42
  25  Fork            -3.225         0.914          -2.825         0              0              0              42
  26  Pan             -0.394         0.973          -2.414         0              0              0              67
  27  Potato          -0.096         1.056          -0.851         0              270            0              79
  28  Lettuce         -2.664         0.801          -0.697         0              135            0              86
  29  Tomato          -3.167         0.963          -3.581         0              0              0              42
  30  Apple           -2.270         0.956          -3.655         0              0              0              42
  31  SoapBottle      -0.314         0.079          -0.030         0              270            0              81
  32  Spatula         -3.393         0.928          -3.428         0              0              0              42
  33  SaltShaker      -0.191         1.293          -3.625         0              45             0              62
  34  Knife           -0.243         0.946          -3.878         0              0              0              42
  35  PepperShaker    -2.581         0.713          -0.433         0              270            0              86
  36  ButterKnife     -2.241         0.903          -3.591         0              14.999         0              42
  37  Plate           -0.452         0.078          -1.259         0              0              0              47
  38  DishSponge      -2.475         0.713          -0.282         0              225            0              86
  39  Spoon           -2.629         0.914          -3.952         0              0              0              42
  40  Mug             -0.065         1.007          -0.950         0              0              0              79
  41  Bowl            -3.079         1.396          -1.879         0              90             0              83
  42  CounterTop      -1.789         0.949          -3.803         0              0              0
  43  Cabinet         -0.577         0.388          -3.476         0              0              0
  44  Cabinet         -0.605         0.388          -3.511         0              0              0
  45  Cabinet         -2.976         0.388          -3.201         0              0              0
  46  Cabinet         -0.577         0.388          -0.447         0              0              0
  47  Cabinet         -0.577         0.388          -1.725         0              0              0
  48  Cabinet         -0.226         1.803          -1.743         0              0              0
  49  Cabinet         -0.228         1.799          -0.447         0              0              0
  50  Cabinet         -6.010         1.139          -6.019         0              0              0
  51  Cabinet         -3.022         2.098          -2.681         0              0              0
  52  Cabinet         -3.022         2.098          -1.743         0              0              0
  53  Cabinet         -0.577         0.388          -2.736         0              0              0
  54  Cabinet         -3.232         1.803          -3.343         0              0              0
  55  Cabinet         -2.811         1.810          -3.764         0              0              0
  56  Cabinet         -1.233         1.810          -3.764         0              0              0
  57  Cabinet         -1.364         0.388          -3.511         0              0              0
  58  Cabinet         -1.380         0.388          -3.511         0              0              0
  59  Cabinet         -0.226         1.803          -2.725         0              0              0
  60  Cabinet         -0.236         2.098          -1.767         0              0              0
  61  Cabinet         -0.236         2.098          -2.705         0              0              0
  62  Cabinet         -0.193         1.210          -4.239         0              0              0
  63  Cabinet         -2.148         0.388          -3.511         0              0              0
  64  Drawer          -3.104         0.797          -2.968         0              0              0
  65  Drawer          -0.449         0.797          -1.410         0              0              0
  66  Sink            -1.786         0.902          -3.748         0              0              0
  67  StoveBurner     -0.376         0.936          -2.451         0              0              0
  68  Drawer          -0.449         0.797          -0.762         0              0              0
  69  CounterTop      -0.268         0.951          -1.089         0              0              0
  70  Drawer          -0.449         0.797          -3.348         0              0              0
  71  StoveBurner     -0.376         0.936          -2.031         0              180            0
  72  Drawer          -0.449         0.797          -2.968         0              0              0
  73  StoveBurner     -0.165         0.936          -2.030         0              180            0
  74  StoveBurner     -0.165         0.936          -2.450         0              0              0
  75  StoveKnob       -0.568         0.903          -2.313         45             270            0
  76  StoveKnob       -0.568         0.903          -2.470         45             270            0
  77  StoveKnob       -0.568         0.903          -2.166         45             270            0
  78  StoveKnob       -0.568         0.903          -2.003         45             270            0
  79  Microwave       -0.143         0.903          -0.908         0              270            0
  80  LightSwitch     -1.108         1.457          0.338          0              180            0
  81  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  82  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  83  Fridge          -3.188         0.0            -2.184         0              0              0
  84  SinkBasin       -1.786         0.779          -3.747         0              0              0
  85  Toaster         -0.230         0.903          -3.406         0              270            0
  86  DiningTable     -2.800         0.003          -0.505         0              0              0
  87  Chair           -3.044         0.003          -1.223         0              32.194         0
  88  Faucet          -1.791         1.136          -3.913         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn left, move to the counter, face the apple on the counter to the left. | STEP 2: Pick up the apple on the counter.  | STEP 3: Turn left, bring the apple to the sink.  | STEP 4: Wash the apple in the sink.  | STEP 5: Turn around with the cleaned apple and bring it to the round dining table on the left, next to the fridge. | STEP 6: Put the cleaned apple on the table.  | END