Task: rinse off and put an apple inside a microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          -0.75          0              180            0
   1  Pan             -2.455         0.910          1.230          0              90             0              81
   2  Potato          -2.439         1.125          -0.507         0              90             0              85
   3  Potato          -2.578         1.125          -0.790         0              90             0              85
   4  DishSponge      -2.318         0.772          0.343          0              0              0              70
   5  ButterKnife     -0.471         0.910          1.094          0              0              0              53
   6  Fork            1.684          0.911          0.465          0              0              0              62
   7  Fork            1.428          0.911          -0.768         0              0              0              63
   8  Spoon           -0.211         0.912          0.647          0              0              0              53
   9  Spoon           -0.081         0.912          0.647          0              0              0              53
  10  Spatula         -2.704         0.925          0.631          0              90             0              81
  11  Pot             1.412          0.929          -0.335         0              0              0              54
  12  Pot             -2.372         0.914          0.031          0              0              0              81
  13  Egg             -2.439         1.119          -1.074         0              90             0              85
  14  Egg             -2.532         1.331          -1.074         0              90             0              85
  15  Cup             -2.613         0.176          -1.012         0              90             0              85
  16  Cup             -2.273         0.112          0.026          0              0              0              69
  17  Plate           -0.341         0.913          0.870          0              0              0              53
  18  Tomato          -2.393         1.131          -0.885         0              90             0              85
  19  SoapBottle      1.855          0.912          -0.768         0              0              0              63
  20  SoapBottle      -2.564         1.539          2.622          0              0              0              57
  21  Bowl            -2.645         1.534          1.192          0              0              0              66
  22  Bowl            -2.645         1.534          0.198          0              0              0              76
  23  PepperShaker    -2.384         0.109          1.371          0              0              0              59
  24  PepperShaker    -0.081         0.905          1.094          0              0              0              53
  25  SaltShaker      1.734          1.651          0.239          0              0              0              72
  26  SaltShaker      -2.237         0.109          0.126          0              0              0              69
  27  Lettuce         -2.372         0.994          0.631          0              0              0              81
  28  Lettuce         0.048          0.994          0.423          0              0              0              53
  29  Bread           -0.341         0.996          1.540          0              0              0              53
  30  Pan             1.691          0.929          -0.335         0              0              0              61
  31  Knife           -2.257         0.799          0.391          0              90             0              70
  32  Apple           -0.601         0.972          1.317          0              0              0              53
  33  Bowl            1.546          0.908          -0.893         0              45             0              67
  34  Fork            -0.081         0.911          1.540          0              0              0              53
  35  Bread           -2.538         0.996          1.530          0              0              0              81
  36  Plate           -2.289         0.913          1.530          0              0              0              81
  37  Egg             1.646          0.215          0.651          0              0              0              92
  38  Kettle          0.854          0.900          -1.790         0              0              0              63
  39  Potato          -2.559         0.631          -0.693         0              90             0              85
  40  SaltShaker      0.048          0.905          0.647          0              0              0              53
  41  Lettuce         -2.538         0.994          0.931          0              0              0              81
  42  Cup             1.318          0.916          -1.204         0              225            0              67
  43  SoapBottle      0.048          0.912          1.540          0              0              0              53
  44  Spatula         -2.227         0.789          1.465          0              270            0              84
  45  PaperTowelRoll  1.739          1.015          -0.832         0              0              0              63
  46  ButterKnife     1.426          0.911          0.494          0              0              0              62
  47  PepperShaker    -2.677         1.533          2.201          0              0              0              65
  48  DishSponge      1.598          0.910          0.376          0              0              0              62
  49  Pot             1.411          0.929          0.064          0              0              0              82
  50  Spoon           -2.621         0.912          0.331          0              0              0              81
  51  Tomato          -0.730         0.953          1.094          0              0              0              53
  52  Mug             1.735          1.658          -0.335         0              0              0              73
  53  CounterTop      -0.360         0.946          1.093          0              0              0
  54  StoveBurner     1.412          0.923          -0.335         0              0              0
  55  StoveKnob       1.878          1.093          0.018          287.989        90             0
  56  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  57  Cabinet         -2.446         1.948          2.924          0              0              0
  58  Drawer          -2.276         0.792          0.902          0              0              0
  59  Cabinet         -2.145         0.402          1.578          0              0              0
  60  Cabinet         0.149          2.008          -1.603         0              90             0
  61  StoveBurner     1.691          0.923          -0.335         0              0              0
  62  CounterTop      1.585          0.946          0.405          0              0              0
  63  CounterTop      0.474          0.946          -1.625         0              0              0
  64  StoveBurner     1.691          0.923          0.064          0              0              0
  65  Cabinet         -2.446         1.948          1.687          0              0              0
  66  Cabinet         -2.446         1.948          1.640          0              0              0
  67  Sink            1.381          0.810          -1.271         0              225            0
  68  StoveKnob       1.878          1.093          0.150          287.989        90             0
  69  Cabinet         -2.145         0.402          -0.236         0              0              0
  70  Drawer          -2.276         0.792          0.437          0              0              0
  71  Drawer          -2.276         0.792          -0.027         0              0              0
  72  Cabinet         1.572          2.008          0.474          0              0              0
  73  Cabinet         1.572          2.008          -0.775         0              0              0
  74  Cabinet         -2.445         2.148          -1.275         0              0              0
  75  Cabinet         -2.446         2.148          -0.284         0              0              0
  76  Cabinet         -2.446         1.948          0.355          0              0              0
  77  Cabinet         -2.446         1.948          0.405          0              0              0
  78  Cabinet         -2.145         0.402          0.644          0              0              0
  79  Cabinet         -2.145         0.402          0.695          0              0              0
  80  Cabinet         -2.285         1.968          -1.325         0              180            0
  81  CounterTop      -1.485         0.946          1.319          0              0              0
  82  StoveBurner     1.411          0.923          0.064          0              0              0
  83  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  84  Drawer          -2.276         0.792          1.368          0              0              0
  85  Fridge          -2.475         0.0            -0.782         0              90             0
  86  LightSwitch     -0.929         1.350          -1.950         0              0              0
  87  Toaster         -2.564         0.900          1.876          0              90             0
  88  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  89  Window          1.508          1.534          -1.496         90             135            0
  90  Window          1.973          1.521          1.121          90             90             0
  91  SinkBasin       1.149          0.753          -1.380         0              225            0
  92  GarbageCan      1.646          -0.000         0.679          0              0              0
  93  Microwave       -2.580         0.900          2.440          0              90             0
  94  Stool           0.439          0.010          0.747          0              0              0
  95  Stool           -2.303         0.010          1.839          0              0              0
  96  Faucet          1.235          1.138          -1.473         0              225            0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: turn around to the right go right turn to the right towards the counter  | STEP 2: pick up the apple from the counter | STEP 3: turn to the right go left turn to the right | STEP 4: put the apple inside the sink rinse it off  | STEP 5: turn around to the right go left towards the microwave | STEP 6: put the apple inside the microwave | END