Task: To clean an apple to put it back in the microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          1.25           0              90             0
   1  Potato          0.950          0.866          0.895          0              0              0              44
   2  Pot             0.913          0.850          1.375          0              0              0              43
   3  Spatula         -1.216         0.838          3.545          0              0              0              67
   4  Spatula         0.800          0.838          0.895          0              90             0              44
   5  Fork            0.805          0.691          0.944          0              90             0              55
   6  Plate           -2.136         1.402          3.897          0              0              0              45
   7  Plate           -2.779         0.826          3.331          0              0              0              67
   8  Knife           -1.185         0.923          1.349          0              180            0              85
   9  Knife           1.024          0.846          2.285          0              0              0              49
  10  SoapBottle      0.650          0.822          1.072          0              90             0              44
  11  Bowl            -2.577         1.189          2.389          0              90             0              76
  12  SaltShaker      -1.917         0.124          3.713          0              0              0              66
  13  Mug             1.099          0.818          2.371          0              0              0              49
  14  Apple           -1.486         1.420          3.967          0              180            0              73
  15  Apple           -0.921         0.961          1.246          0              90             0              85
  16  Plate           0.875          0.826          2.458          0              0              0              51
  17  Fork            0.725          0.823          2.545          0              0              0              49
  18  Bread           -2.577         0.820          2.221          0              90             0              76
  19  Spatula         0.712          0.848          2.134          0              200.845        0              49
  20  PaperTowelRoll  -0.657         1.004          1.555          0              90             0              85
  21  Potato          -2.636         1.038          2.333          0              90             0              76
  22  SoapBottle      -2.478         1.041          1.370          0              0              0              47
  23  Egg             -1.746         1.395          3.934          0              180            0              73
  24  Cup             -2.747         1.398          3.818          0              0              0              58
  25  Pot             0.913          0.850          1.768          0              0              0              65
  26  SaltShaker      -2.463         1.395          4.015          0              0              0              42
  27  Pan             -2.667         0.812          3.74           0              137.145        0              67
  28  PepperShaker    1.099          0.819          2.111          0              0              0              49
  29  ButterKnife     0.725          0.823          2.371          0              0              0              49
  30  Tomato          -1.317         0.969          0.937          0              90             0              85
  31  DishSponge      -1.053         0.900          1.555          0              90             0              85
  32  Lettuce         -0.580         0.956          1.358          31.822         0              0              85
  33  Spoon           0.725          0.824          1.028          0              0              0              44
  34  Apple           0.931          0.085          2.889          0              0              0              78
  35  Knife           -1.317         0.923          1.349          0              90             0              85
  36  Mug             -1.109         0.940          1.203          0              0              0              85
  37  Bowl            -2.677         1.406          2.277          0              90             0              76
  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: Turn left to go past the stove then turn left again to go towards the fridge. Make a right and go to the sink and look above at the microwave. | STEP 2: Open the microwave to take out the apple and shut the door. | STEP 3: Turn left and then right to go to the left side of the sink. | STEP 4: Put the apple on the right side of the sink. Fill the sink with water, turn it off then take the apple back out. | STEP 5: Turn to the right then a quick left to raise the apple up to the microwave. | STEP 6: Place the apple inside the microwave on the right side of the plate and shut the door. | END