Task: Put a clean 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           -2.0           0.900          2.5            0              90             0
   1  Potato          -1.376         0.962          0.359          0              0              0              76
   2  Potato          -3.506         0.942          2.920          0              90             0              71
   3  Ladle           -2.388         1.164          0.190          0              0              0              64
   4  DishSponge      -1.483         0.048          0.608          0              0              0              69
   5  ButterKnife     -2.137         1.124          0.567          0              0              0              64
   6  ButterKnife     -0.292         1.047          2.144          0              0              0              54
   7  Pot             -3.000         1.133          0.227          0              270            0              68
   8  Fork            -0.715         1.125          0.569          0              0              0              66
   9  Fork            -1.553         0.932          0.359          0              0              0              76
  10  Spatula         -3.742         1.139          0.095          0              90             0              61
  11  Egg             -0.256         1.258          0.508          0              0              0              77
  12  Cup             -1.199         0.929          0.567          0              0              0              76
  13  Plate           -0.538         1.046          2.817          0              0              0              54
  14  Plate           -2.262         1.123          0.473          0              0              0              64
  15  Knife           -0.771         1.157          0.387          0              180            0              66
  16  Knife           -0.538         1.080          2.144          0              0              0              54
  17  SoapBottle      -3.644         0.113          2.068          0              0              0              75
  18  SoapBottle      -1.601         0.049          0.381          0              0              0              69
  19  Tomato          -0.785         1.088          2.144          0              0              0              54
  20  Tomato          -3.639         1.603          3.061          0              90             0              71
  21  Bowl            -0.785         1.045          1.920          0              0              0              54
  22  SaltShaker      -0.785         1.043          3.266          0              0              0              54
  23  SaltShaker      -0.415         1.043          2.369          0              0              0              54
  24  PepperShaker    -1.274         0.045          0.324          0              0              0              58
  25  Lettuce         -3.44          1.364          3.061          0              90             0              71
  26  Mug             -0.377         1.095          3.194          0              270            0              70
  27  Fork            -1.465         0.932          0.567          0              0              0              76
  28  SoapBottle      -3.798         0.113          2.038          0              0              0              75
  29  Pot             -3.475         1.133          0.227          0              90             0              50
  30  Ladle           -0.785         1.086          2.817          0              0              0              54
  31  Potato          -1.465         0.962          0.498          0              0              0              76
  32  Plate           -1.193         0.921          0.403          0              0              0              76
  33  Bread           -3.440         1.649          2.990          0              90             0              71
  34  Lettuce         -0.662         1.124          3.266          0              0              0              54
  35  Spatula         -0.538         1.063          3.042          0              90             0              54
  36  Pan             -0.266         1.038          2.561          0              0              0              54
  37  Egg             -0.771         1.155          0.206          0              0              0              66
  38  Cup             -0.203         1.226          0.410          0              0              0              77
  39  SaltShaker      -1.235         0.045          0.437          0              0              0              58
  40  Knife           -0.292         1.080          1.920          0              0              0              54
  41  Bowl            -0.662         1.045          2.593          0              0              0              54
  42  PepperShaker    -2.514         1.121          0.190          0              0              0              64
  43  ButterKnife     -2.6           1.113          0.577          0              315            0              64
  44  Apple           -3.778         1.192          0.473          0              0              0              61
  45  Tomato          -3.373         0.952          2.920          0              90             0              71
  46  DishSponge      -3.644         0.112          1.978          0              0              0              75
  47  Spoon           -0.908         1.048          3.266          0              0              0              54
  48  Mug             -3.778         1.119          0.662          0              0              0              61
  49  StoveKnob       -3.322         1.053          0.709          45             0              0
  50  StoveBurner     -3.474         1.097          0.227          0              180            0
  51  Sink            -1.394         0.982          0.439          0              0              0
  52  StoveBurner     -3.474         1.097          0.479          0              180            0
  53  StoveKnob       -3.164         1.053          0.709          45             0              0
  54  DiningTable     -0.620         0.017          2.486          0              0              0
  55  Drawer          -2.043         0.608          0.594          0              0              0
  56  Drawer          -2.043         0.216          0.594          0              0              0
  57  Drawer          -2.498         0.216          0.594          0              0              0
  58  Cabinet         -1.001         0.393          0.734          0              0              0
  59  StoveBurner     -3.000         1.097          0.480          0              0              0
  60  StoveKnob       -3.492         1.053          0.709          45             0              0
  61  CounterTop      -3.856         1.160          0.379          0              0              0
  62  Drawer          -2.043         0.937          0.599          0              0              0
  63  Drawer          -2.509         0.937          0.599          0              0              0
  64  CounterTop      -2.280         1.160          0.379          0              0              0
  65  StoveKnob       -2.985         1.053          0.709          45             0              0
  66  CounterTop      -0.514         1.160          0.492          0              0              0
  67  Drawer          -2.498         0.608          0.594          0              0              0
  68  StoveBurner     -3.000         1.097          0.227          0              0              0
  69  Cabinet         -1.733         0.393          0.734          0              0              0
  70  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  71  Fridge          -3.519         0.0            2.717          0              90             0
  72  Window          -1.394         1.924          0.014          90             0              0
  73  Window          -3.266         1.924          0.014          90             0              0
  74  Toaster         -0.225         1.038          2.865          0              270            0
  75  GarbageCan      -3.696         0.002          2.008          0              0              0
  76  SinkBasin       -1.389         0.921          0.428          0              0              0
  77  Microwave       -0.366         1.113          0.430          0              0              0
  78  HousePlant      -2.155         1.101          0.169          0              332.897        0
  79  LightSwitch     -2.584         1.299          3.5            0              180            0
  80  Faucet          -1.393         1.373          0.168          0              270            0
  81  NorthWall
  82  SouthWall
  83  SouthWall

Plan:
STEP 1: Turn around and walk to the end of the room, then turn to your left and go to the small counter, between the stove and the wall.  | STEP 2: Pick up the apple, behind the coffee cup, on the counter.  | STEP 3: Turn to your left and walk towards the brick wall across from you until you reach the marble sink, on your right.  | STEP 4: Place the apple in the back, left corner of the sink, turn the water on, rinse the apple off, turn the water off, and remove the apple from the sink.  | STEP 5: Turn around and walk across the kitchen, then turn to the end of the wooden table, on your right.  | STEP 6: Place the apple between the two spoons on the wooden table.  | END