Task: Rinse a red apple in the sink and place it 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           0.25           0.900          -0.25          0              270            0
   1  DishSponge      -2.638         1.537          0.702          0              0              0              68
   2  DishSponge      -2.564         1.537          1.483          0              0              0              57
   3  ButterKnife     -2.455         0.910          0.631          0              0              0              72
   4  Kettle          1.734          1.657          0.313          0              0              0              63
   5  Kettle          1.411          0.929          0.064          0              0              0              73
   6  Fork            -0.601         0.911          1.764          0              90             0              44
   7  Fork            -2.289         0.911          1.830          0              0              0              72
   8  Spoon           1.418          0.919          -1.034         0              45             0              58
   9  Spatula         -2.318         0.788          -0.121         0              90             0              62
  10  Spatula         0.873          0.925          -1.678         0              45             0              54
  11  Plate           0.445          1.666          -1.766         0              90             0              51
  12  Tomato          0.048          0.953          0.647          0              0              0              44
  13  Tomato          -0.341         0.953          0.647          0              0              0              44
  14  SoapBottle      -2.206         0.912          0.931          0              0              0              72
  15  Bread           -0.341         0.996          1.317          0              0              0              44
  16  Bread           0.048          0.996          0.423          0              0              0              44
  17  Mug             -2.521         1.578          -1.704         0              180            0              71
  18  Mug             1.599          0.905          -0.726         0              0              0              54
  19  Apple           -2.559         0.656          -0.693         0              90             0              76
  20  Apple           -2.513         0.656          -1.051         0              90             0              76
  21  Pan             -0.730         0.910          0.647          0              0              0              44
  22  Knife           -2.372         0.936          1.530          0              0              0              75
  23  Apple           1.646          0.246          0.706          0              0              0              83
  24  Bowl            -2.638         1.535          2.057          0              0              0              56
  25  Fork            -0.601         0.911          0.870          0              180            0              44
  26  Bread           -0.341         0.996          0.870          0              0              0              44
  27  Plate           -0.081         0.913          1.764          0              0              0              44
  28  Egg             1.562          0.215          0.596          0              0              0              83
  29  Kettle          1.691          0.929          0.064          0              0              0              55
  30  Potato          1.855          0.947          0.376          0              90             0              53
  31  SaltShaker      -2.642         1.933          -0.634         0              0              0              66
  32  Lettuce         -2.455         0.994          0.031          0              0              0              72
  33  Cup             -2.642         1.936          -0.522         0              0              0              66
  34  SoapBottle      1.426          0.920          -1.096         0              135            0              58
  35  Spatula         -2.227         0.789          1.000          0              270            0              49
  36  PaperTowelRoll  1.881          1.015          -0.963         0              0              0              54
  37  ButterKnife     1.598          0.911          0.465          0              0              0              53
  38  PepperShaker    -2.538         0.905          1.230          0              0              0              72
  39  DishSponge      0.660          1.663          -1.729         0              90             0              51
  40  Pot             -2.311         0.105          0.895          0              270            0              70
  41  Spoon           -2.348         0.774          -0.121         0              90             0              62
  42  Tomato          -2.485         1.342          -0.885         0              90             0              76
  43  Mug             -2.570         1.010          2.481          0              90             0              84
  44  CounterTop      -0.360         0.946          1.093          0              0              0
  45  StoveBurner     1.412          0.923          -0.335         0              0              0
  46  StoveKnob       1.878          1.093          0.018          287.989        90             0
  47  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  48  Cabinet         -2.446         1.948          2.924          0              0              0
  49  Drawer          -2.276         0.792          0.902          0              0              0
  50  Cabinet         -2.145         0.402          1.578          0              0              0
  51  Cabinet         0.149          2.008          -1.603         0              90             0
  52  StoveBurner     1.691          0.923          -0.335         0              0              0
  53  CounterTop      1.585          0.946          0.405          0              0              0
  54  CounterTop      0.474          0.946          -1.625         0              0              0
  55  StoveBurner     1.691          0.923          0.064          0              0              0
  56  Cabinet         -2.446         1.948          1.687          0              0              0
  57  Cabinet         -2.446         1.948          1.640          0              0              0
  58  Sink            1.381          0.810          -1.271         0              225            0
  59  StoveKnob       1.878          1.093          0.150          287.989        90             0
  60  Cabinet         -2.145         0.402          -0.236         0              0              0
  61  Drawer          -2.276         0.792          0.437          0              0              0
  62  Drawer          -2.276         0.792          -0.027         0              0              0
  63  Cabinet         1.572          2.008          0.474          0              0              0
  64  Cabinet         1.572          2.008          -0.775         0              0              0
  65  Cabinet         -2.445         2.148          -1.275         0              0              0
  66  Cabinet         -2.446         2.148          -0.284         0              0              0
  67  Cabinet         -2.446         1.948          0.355          0              0              0
  68  Cabinet         -2.446         1.948          0.405          0              0              0
  69  Cabinet         -2.145         0.402          0.644          0              0              0
  70  Cabinet         -2.145         0.402          0.695          0              0              0
  71  Cabinet         -2.285         1.968          -1.325         0              180            0
  72  CounterTop      -1.485         0.946          1.319          0              0              0
  73  StoveBurner     1.411          0.923          0.064          0              0              0
  74  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  75  Drawer          -2.276         0.792          1.368          0              0              0
  76  Fridge          -2.475         0.0            -0.782         0              90             0
  77  LightSwitch     -0.929         1.350          -1.950         0              0              0
  78  Toaster         -2.564         0.900          1.876          0              90             0
  79  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  80  Window          1.508          1.534          -1.496         90             135            0
  81  Window          1.973          1.521          1.121          90             90             0
  82  SinkBasin       1.149          0.753          -1.380         0              225            0
  83  GarbageCan      1.646          -0.000         0.679          0              0              0
  84  Microwave       -2.580         0.900          2.440          0              90             0
  85  Stool           0.439          0.010          0.747          0              0              0
  86  Stool           -2.303         0.010          1.839          0              0              0
  87  Faucet          1.235          1.138          -1.473         0              225            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn around and go forward slightly then turn left then turn right and walk to the white trash bin | STEP 2: Pick up the red apple from the trash bin | STEP 3: Turn to the left and walk straight to the kitchen sink and face it | STEP 4: Place the apple in the sink and rinse with water then remove it  | STEP 5: Turn around and move forward slightly then turn right and walk straight past the kitchen island then turn left and walk to the microwave | STEP 6: Place the apple inside the microwave and close the door | END