Task: Put a rinsed piece of an apple on a kitchen table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.901          0.0            0              180            0
   1  Pan             2.056          1.323          -0.460         0              180            0              69
   2  Pan             2.140          0.935          1.106          0              0              0              50
   3  Potato          0.033          0.831          1.386          0              0              0              75
   4  WineBottle      -0.396         0.938          2.548          0              0              0              48
   5  Ladle           1.954          0.791          2.197          0              270            0              63
   6  Spatula         -0.425         0.805          0.713          0              90             0              75
   7  Spatula         0.788          0.810          2.529          0              90             0              72
   8  Cup             1.840          0.936          0.435          0              0              0              59
   9  Plate           2.059          0.342          -0.188         0              270            0              69
  10  Plate           0.637          0.085          2.523          0              0              0              55
  11  Bowl            2.179          1.515          -0.188         0              270            0              69
  12  SaltShaker      -0.396         0.932          2.897          0              0              0              48
  13  PepperShaker    -0.349         0.785          0.377          0              0              0              75
  14  Lettuce         -0.042         0.852          1.049          0              90             0              75
  15  Mug             1.905          1.498          2.730          0              0              0              49
  16  Apple           -0.042         0.840          0.881          0              0              0              75
  17  Egg             1.994          0.980          0.361          0              0              0              59
  18  Lettuce         2.122          0.664          -0.460         0              270            0              69
  19  Fork            -0.272         0.791          0.545          0              0              0              75
  20  SoapBottle      0.033          0.791          1.217          0              0              0              75
  21  Ladle           2.205          1.993          1.563          0              0              0              53
  22  Ladle           1.156          0.125          2.523          0              0              0              54
  23  Bread           -0.199         0.823          0.813          0              0              0              75
  24  SaltShaker      -0.272         0.932          2.504          0              0              0              48
  25  Potato          -0.425         0.831          1.217          0              0              0              75
  26  Pan             2.140          0.935          1.504          0              180            0              43
  27  WineBottle      2.206          1.502          2.381          0              0              0              41
  28  Spatula         1.941          0.761          0.721          0              270            0              57
  29  Knife           -0.042         0.816          0.377          0              0              0              75
  30  Tomato          2.137          0.907          -0.188         0              270            0              69
  31  Apple           -0.261         1.085          2.068          0              90             0              73
  32  ButterKnife     -0.041         0.937          2.372          0              0              0              48
  33  Pot             1.854          0.937          1.497          0              0              0              52
  34  PepperShaker    2.167          1.496          2.010          0              0              0              51
  35  Cup             2.167          1.947          1.050          0              0              0              58
  36  DishSponge      2.243          1.948          1.145          0              0              0              58
  37  Plate           -0.196         0.795          1.386          0              0              0              75
  38  Spoon           0.060          0.938          2.548          0              0              0              48
  39  Mug             -0.041         0.076          2.129          0              0              0              42
  40  Bowl            -0.396         0.934          2.757          0              0              0              48
  41  Cabinet         2.041          2.113          2.618          0              0              0
  42  Cabinet         0.126          0.388          1.774          0              0              0
  43  StoveBurner     2.140          0.929          1.504          0              180            0
  44  Cabinet         1.760          0.388          2.346          0              0              0
  45  Cabinet         1.760          0.388          0.869          0              0              0
  46  Cabinet         2.041          1.810          0.283          0              0              0
  47  Drawer          -0.024         0.774          2.061          0              0              0
  48  CounterTop      1.065          0.973          2.666          0              0              0
  49  Cabinet         1.969          2.113          2.618          0              0              0
  50  StoveBurner     2.140          0.929          1.106          0              0              0
  51  Cabinet         2.041          2.113          1.809          0              0              0
  52  StoveBurner     1.866          0.929          1.504          0              180            0
  53  Cabinet         2.041          2.113          1.766          0              0              0
  54  Cabinet         1.514          0.388          2.360          0              0              0
  55  Cabinet         0.351          0.388          2.360          0              0              0
  56  Cabinet         2.041          1.810          0.872          0              0              0
  57  Drawer          2.167          0.774          0.582          0              0              0
  58  Cabinet         2.041          2.113          0.892          0              0              0
  59  CounterTop      2.060          0.973          0.583          0              0              0
  60  Sink            0.935          0.936          2.646          0              0              0
  61  Curtains        0.964          2.061          2.989          0              0              0
  62  StoveBurner     1.863          0.929          1.106          0              0              0
  63  Drawer          1.911          0.774          2.060          0              0              0
  64  StoveKnob       2.326          1.092          1.610          288.013        90             0
  65  StoveKnob       2.326          1.092          1.460          288.013        90             0
  66  StoveKnob       2.326          1.092          1.210          288.013        90             0
  67  StoveKnob       2.326          1.092          1.050          288.013        90             0
  68  Toaster         2.126          0.926          0.572          0              270            0
  69  Fridge          2.104          0.0            -0.279         0              270            0
  70  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  71  LightSwitch     0.354          1.518          -1.031         0              0              0
  72  SinkBasin       0.903          0.784          2.640          0              0              0
  73  Microwave       -0.310         0.926          2.077          0              90             0
  74  CoffeeMachine   2.084          0.927          2.667          0              225            0
  75  DiningTable     -0.153         -0.000         1.073          0              270            0
  76  Faucet          1.175          0.926          2.950          270            90             0
  77  Faucet          0.686          0.926          2.950          270            90             0
  78  Chair           -0.077         0.002          0.196          0              15.000         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn to the right and cross the room to the white table at the opposite wall, then face the table, near the end with the brown chair. | STEP 2: Pick up the yellow-handled knife from the table. | STEP 3: Move right, to face the center of the table. | STEP 4: Cut the bronze colored apple into three pieces. | STEP 5: Go back toward the left end of the table. | STEP 6: Put the knife back on the table, to the left of the cut apple. | STEP 7: Move about 1 foot back to your right. | STEP 8: Pick up the left front third of the cut apple. | STEP 9: Carry the piece of apple to the sink on your right. | STEP 10: Wash the piece of apple in the right side of the sink. | STEP 11: Turn left and return to face the center of the white table. | STEP 12: Set the rinsed piece of apple back on the table, in front of the other apple pieces. | END