Task: put a washed golden apple onto 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           -1.25          0.900          3.0            0              0              0
   1  DishSponge      -1.836         0.702          3.774          0              0              0              79
   2  Spoon           -0.657         0.901          1.246          0              180            0              85
   3  Egg             -2.461         0.803          2.446          0              90             0              76
   4  Egg             0.800          0.859          0.939          0              0              0              44
   5  Plate           -2.136         1.402          3.897          0              0              0              45
   6  Plate           -2.541         1.637          3.025          0              0              0              63
   7  Cup             -1.317         0.900          1.246          0              90             0              85
   8  SoapBottle      -0.657         0.900          1.555          0              90             0              85
   9  Tomato          -2.563         0.891          3.479          0              0              0              67
  10  Bowl            -2.694         0.765          2.333          0              90             0              76
  11  PepperShaker    -0.524         0.896          1.143          0              90             0              85
  12  SaltShaker      -2.386         1.395          3.779          0              0              0              42
  13  SaltShaker      -1.317         0.896          1.040          0              90             0              85
  14  Lettuce         -2.519         1.071          2.389          0              90             0              76
  15  Apple           -1.053         0.961          1.555          0              90             0              85
  16  Plate           -1.749         1.687          3.897          0              0              0              39
  17  Fork            0.702          0.692          2.496          0              90             0              41
  18  Bread           0.828          0.861          2.449          0              0              0              44
  19  Spatula         -2.707         0.838          3.331          0              90             0              67
  20  PaperTowelRoll  0.650          0.927          1.072          0              0              0              44
  21  Potato          -0.921         0.943          1.246          0              90             0              85
  22  SoapBottle      -1.317         0.900          1.555          0              90             0              85
  23  Egg             -1.486         1.395          3.836          0              180            0              73
  24  Cup             -2.577         0.766          2.221          0              90             0              76
  25  Pot             0.913          0.850          1.375          0              0              0              43
  26  SaltShaker      -0.674         0.155          3.787          0              0              0              53
  27  Pan             -2.667         0.812          3.74           0              137.145        0              67
  28  PepperShaker    -1.053         0.896          1.452          0              90             0              85
  29  ButterKnife     1.011          0.813          2.372          0              0              0              49
  30  Tomato          -0.913         0.962          1.484          0              0              0              85
  31  DishSponge      0.800          0.822          2.198          0              0              0              49
  32  Lettuce         -0.580         0.956          1.358          31.822         0              0              85
  33  Spoon           -2.087         0.700          3.699          0              270            0              56
  34  Apple           -2.752         1.252          2.389          0              90             0              76
  35  Knife           0.950          0.846          1.028          0              270            0              44
  36  Mug             -2.127         0.818          3.575          0              180            0              67
  37  Bowl            -1.694         1.357          3.901          0              180            0              73
  38  Drawer          0.729          0.703          2.199          0              0              0
  39  Cabinet         -1.962         1.926          3.733          0              0              0
  40  Cabinet         -2.377         2.014          1.058          0              0              0
  41  Drawer          0.729          0.703          2.532          0              0              0
  42  Cabinet         -2.622         1.925          3.733          0              0              0
  43  StoveBurner     0.913          0.843          1.375          0              0              0
  44  CounterTop      0.864          0.858          0.984          0              0              0
  45  Cabinet         -1.976         1.779          3.734          0              0              0
  46  Cabinet         0.580          0.385          0.819          0              0              0
  47  Cabinet         -2.379         1.408          1.677          0              0              0
  48  Cabinet         -0.419         1.703          3.736          0              0              0
  49  CounterTop      0.864          0.858          2.371          0              0              0
  50  Sink            -1.702         0.726          3.828          0              180            0
  51  Cabinet         0.580          0.385          2.694          0              0              0
  52  Cabinet         -2.379         0.637          1.677          0              0              0
  53  Cabinet         -0.419         0.674          3.736          0              0              0
  54  Cabinet         -2.377         2.014          2.558          0              0              0
  55  Drawer          0.729          0.703          0.980          0              0              0
  56  Drawer          -2.114         0.706          3.657          0              0              0
  57  Cabinet         -2.377         1.691          2.572          0              0              0
  58  Cabinet         -2.951         1.925          3.733          0              0              0
  59  Cabinet         0.580          0.385          2.360          0              0              0
  60  Cabinet         -2.426         0.435          3.421          0              0              0
  61  StoveBurner     0.642          0.843          1.375          0              0              0
  62  Cabinet         -2.377         1.927          1.686          0              0              0
  63  Cabinet         -2.377         2.013          3.177          0              0              0
  64  Cabinet         -1.136         0.385          3.516          0              0              0
  65  StoveBurner     0.913          0.843          1.768          0              0              0
  66  Cabinet         -1.974         0.385          3.516          0              0              0
  67  CounterTop      -2.081         0.858          3.799          0              0              0
  68  Cabinet         -2.426         0.435          3.174          0              0              0
  69  Cabinet         -2.377         2.014          1.693          0              0              0
  70  Cabinet         -1.986         0.385          3.511          0              0              0
  71  StoveBurner     0.642          0.843          1.768          0              0              0
  72  Cabinet         -1.098         1.926          3.729          0              0              0
  73  Microwave       -1.529         1.250          3.881          1.622          180            0
  74  CoffeeMachine   1.000          0.812          2.492          0              270            0
  75  LightSwitch     0.825          1.396          4.082          0              180            0
  76  Fridge          -2.642         0.0            2.134          0              180            0
  77  Window          -1.131         1.673          0.808          90             0              0
  78  GarbageCan      0.931          -0.000         2.918          0              0              0
  79  SinkBasin       -1.601         0.686          3.774          0              0              0
  80  StoveKnob       1.104          1.002          1.886          0              0              70.346
  81  StoveKnob       1.104          1.002          1.733          0              0              70.346
  82  StoveKnob       1.104          1.002          1.321          0              0              70.346
  83  StoveKnob       1.104          1.002          1.481          0              0              70.346
  84  Toaster         -2.247         0.812          3.862          0              180            0
  85  DiningTable     -0.917         -0.000         1.203          0              0              0
  86  Stool           -0.932         0.000          1.404          1.196          21.715         0
  87  Faucet          -1.842         0.809          3.984          0              180            0
  88  Faucet          -1.371         0.809          3.985          0              180            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: walk to face the rectangular table | STEP 2: pick up the golden apple from the table | STEP 3: turn around to face the sink | STEP 4: wash the apple in the sink, pick up the apple from sink | STEP 5: walk to face rectangular table | STEP 6: put the apple on the table | END