Task: Wash an apple and put it on 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           -1.75          0.901          -0.75          0              180            0
   1  Potato          -3.053         0.760          -0.922         0              0              0              86
   2  Potato          -1.914         0.834          -3.832         0              0              0              84
   3  DishSponge      -0.338         0.915          -1.555         0              0              0              69
   4  ButterKnife     -0.338         0.916          -0.472         0              0              0              69
   5  Pot             -3.346         0.916          -3.804         0              270            0              42
   6  Spatula         -1.776         0.805          -3.832         0              90             0              84
   7  Spatula         -3.300         0.728          -0.326         0              225            0              86
   8  Spoon           -3.477         0.914          -2.825         0              0              0              42
   9  Spoon           -2.865         0.714          -0.621         0              270            0              86
  10  Fork            -3.022         0.714          -0.741         0              225            0              86
  11  Knife           -3.155         0.746          -0.383         0              225            0              86
  12  Knife           -2.581         0.749          -0.433         0              270            0              86
  13  Tomato          -3.182         1.063          -2.002         0              90             0              83
  14  Tomato          -3.234         1.448          -2.064         0              90             0              83
  15  SoapBottle      -0.419         0.915          -0.524         0              0              0              69
  16  SoapBottle      -2.803         0.713          -0.496         0              0              0              86
  17  Lettuce         -2.740         0.804          -0.069         0              0              0              86
  18  Lettuce         -3.182         0.729          -1.941         0              90             0              83
  19  Apple           -2.797         0.756          -0.829         0              135            0              86
  20  Apple           -0.096         1.055          -0.900         0              270            0              79
  21  Pot             -0.244         0.916          -3.012         0              0              0              42
  22  Egg             -0.220         1.031          -0.999         0              270            0              79
  23  Cup             -0.650         0.914          -3.952         0              0              0              42
  24  Bread           -1.262         0.954          -3.729         0              0              0              42
  25  Fork            -0.382         0.746          -2.858         0              270            0              72
  26  Pan             -0.165         0.975          -2.030         0              180            0              73
  27  Potato          -1.638         0.834          -3.790         0              0              0              84
  28  Lettuce         -3.309         1.001          -2.926         0              0              0              42
  29  Tomato          -3.255         0.766          -0.709         0              225            0              86
  30  Apple           -3.393         0.956          -3.428         0              0              0              42
  31  SoapBottle      -0.447         0.913          -3.878         0              0              0              42
  32  Spatula         -2.678         0.728          -0.353         0              270            0              86
  33  SaltShaker      -3.111         0.742          -2.912         0              0              0              64
  34  Knife           -0.530         0.778          -0.837         0              90             0              68
  35  PepperShaker    -3.082         0.742          -3.023         0              0              0              64
  36  ButterKnife     -2.808         0.913          -3.804         0              0              0              42
  37  Plate           -0.419         0.914          -1.370         0              0              0              69
  38  DishSponge      -0.471         0.746          -1.331         0              0              0              65
  39  Spoon           -3.199         0.747          -3.023         0              90             0              64
  40  Mug             -0.257         0.911          -1.555         0              180            0              69
  41  Bowl            -2.516         1.293          -3.888         0              0              0              55
  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: Go forward to sink, turn right, go to counter with lettuce and red apple on it. | STEP 2: Pick up red apple, located to the left of the lettuce. | STEP 3: Turn around, go to sink, turn right to face sink | STEP 4: Place apple in sink, in front and between spatula and left side potato.  Turn water on, turn water off.  Pick up apple. | STEP 5: Turn around, go to table. | STEP 6: Place apple on table slightly in front and to the right of the apple already on the table. | END