Task: To rinse an apple and place it on the wooden 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           0.901          -0.25          0              90             0
   1  Pan             -0.376         0.975          -2.451         0              0              0              68
   2  DishSponge      -1.776         0.790          -3.661         0              0              0              85
   3  ButterKnife     -2.987         0.913          -3.804         0              0              0              43
   4  ButterKnife     -3.167         0.717          -0.797         0              225            0              87
   5  Spatula         -2.853         0.731          -0.684         0              135            0              87
   6  Fork            -0.419         0.916          -1.432         0              90             0              70
   7  Cup             -3.234         1.399          -2.187         0              90             0              84
   8  Cup             -0.338         0.916          -1.616         0              0              0              70
   9  Plate           -2.439         0.711          -0.621         0              270            0              87
  10  Knife           -0.500         0.779          -2.913         0              270            0              73
  11  Knife           -3.024         0.779          -2.912         0              270            0              65
  12  Tomato          -3.234         1.063          -2.125         0              90             0              84
  13  Tomato          -0.284         0.129          -0.030         0              270            0              82
  14  SoapBottle      -0.095         0.915          -1.616         0              0              0              70
  15  Bowl            -0.127         1.010          -0.900         0              270            0              80
  16  SaltShaker      -3.300         0.710          -0.326         0              135            0              87
  17  SaltShaker      -0.452         0.076          -0.528         0              0              0              47
  18  PepperShaker    -1.895         0.910          -4.027         0              0              0              43
  19  Lettuce         -2.740         0.804          -0.069         0              0              0              87
  20  Lettuce         -2.721         0.804          -0.552         0              135            0              87
  21  Mug             -2.930         0.763          -0.358         0              135            0              83
  22  Pot             -2.836         0.903          -3.745         0              92.628         0              43
  23  Egg             -3.036         0.922          -2.470         0              90             0              84
  24  Cup             -0.257         0.916          -0.507         0              0              0              70
  25  Bread           -0.327         0.948          -3.681         0              298.222        0              43
  26  Fork            -2.564         0.714          -0.797         0              135            0              87
  27  Pan             -0.376         0.975          -2.031         0              180            0              72
  28  Potato          -3.182         1.442          -2.002         0              90             0              84
  29  Lettuce         -1.324         0.988          -3.759         1.589          253.806        357.401        43
  30  Tomato          -0.500         0.965          -1.432         0              0              0              70
  31  Apple           -0.096         1.055          -0.752         0              270            0              80
  32  SoapBottle      -0.853         0.081          -3.675         0              0              0              45
  33  Spatula         -2.865         0.728          -0.780         0              0              0              87
  34  SaltShaker      -2.732         1.291          -3.888         0              0              0              56
  35  Knife           -0.441         0.778          -1.563         0              90             0              66
  36  PepperShaker    -3.150         0.710          -0.433         0              270            0              87
  37  ButterKnife     -3.292         0.717          -0.558         0              270            0              87
  38  Plate           -3.275         1.866          -2.334         0              0              0              52
  39  DishSponge      -3.363         1.291          -2.881         0              0              0              55
  40  Spoon           -2.990         0.718          -0.922         0              0              0              87
  41  Mug             -2.053         0.076          -3.713         0              0              0              64
  42  Bowl            -3.079         0.638          -1.879         0              90             0              84
  43  CounterTop      -1.789         0.949          -3.803         0              0              0
  44  Cabinet         -0.577         0.388          -3.476         0              0              0
  45  Cabinet         -0.605         0.388          -3.511         0              0              0
  46  Cabinet         -2.976         0.388          -3.201         0              0              0
  47  Cabinet         -0.577         0.388          -0.447         0              0              0
  48  Cabinet         -0.577         0.388          -1.725         0              0              0
  49  Cabinet         -0.226         1.803          -1.743         0              0              0
  50  Cabinet         -0.228         1.799          -0.447         0              0              0
  51  Cabinet         -6.010         1.139          -6.019         0              0              0
  52  Cabinet         -3.022         2.098          -2.681         0              0              0
  53  Cabinet         -3.022         2.098          -1.743         0              0              0
  54  Cabinet         -0.577         0.388          -2.736         0              0              0
  55  Cabinet         -3.232         1.803          -3.343         0              0              0
  56  Cabinet         -2.811         1.810          -3.764         0              0              0
  57  Cabinet         -1.233         1.810          -3.764         0              0              0
  58  Cabinet         -1.364         0.388          -3.511         0              0              0
  59  Cabinet         -1.380         0.388          -3.511         0              0              0
  60  Cabinet         -0.226         1.803          -2.725         0              0              0
  61  Cabinet         -0.236         2.098          -1.767         0              0              0
  62  Cabinet         -0.236         2.098          -2.705         0              0              0
  63  Cabinet         -0.193         1.210          -4.239         0              0              0
  64  Cabinet         -2.148         0.388          -3.511         0              0              0
  65  Drawer          -3.104         0.797          -2.968         0              0              0
  66  Drawer          -0.449         0.797          -1.410         0              0              0
  67  Sink            -1.786         0.902          -3.748         0              0              0
  68  StoveBurner     -0.376         0.936          -2.451         0              0              0
  69  Drawer          -0.449         0.797          -0.762         0              0              0
  70  CounterTop      -0.268         0.951          -1.089         0              0              0
  71  Drawer          -0.449         0.797          -3.348         0              0              0
  72  StoveBurner     -0.376         0.936          -2.031         0              180            0
  73  Drawer          -0.449         0.797          -2.968         0              0              0
  74  StoveBurner     -0.165         0.936          -2.030         0              180            0
  75  StoveBurner     -0.165         0.936          -2.450         0              0              0
  76  StoveKnob       -0.568         0.903          -2.313         45             270            0
  77  StoveKnob       -0.568         0.903          -2.470         45             270            0
  78  StoveKnob       -0.568         0.903          -2.166         45             270            0
  79  StoveKnob       -0.568         0.903          -2.003         45             270            0
  80  Microwave       -0.143         0.903          -0.908         0              270            0
  81  LightSwitch     -1.108         1.457          0.338          0              180            0
  82  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  83  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  84  Fridge          -3.188         0.0            -2.184         0              0              0
  85  SinkBasin       -1.786         0.779          -3.747         0              0              0
  86  Toaster         -0.230         0.903          -3.406         0              270            0
  87  DiningTable     -2.800         0.003          -0.505         0              0              0
  88  Chair           -3.044         0.003          -1.223         0              32.194         0
  89  Faucet          -1.791         1.136          -3.913         0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Walk to the microwave in front of you.  | STEP 2: Open the microwave door, take the apple out of the microwave, and close the door.  | STEP 3: Turn right and walk to the sink.  | STEP 4: Place the apple in the sink to the left of the green sponge, turn the water on, rinse off the apple, turn the water off, pick up the apple from the sink.  | STEP 5: Turn around and walk to the wooden table with the coffee maker.  | STEP 6: Place the apple down on the table to the left of the fork.  | END