Task: place a microwaved apple inside of the kitchen sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.908          0.5            0              180            0
   1  SprayBottle     -1.294         2.152          0.763          0              0              0              70
   2  SprayBottle     -1.290         0.749          2.273          0              0              0              52
   3  Potato          1.444          0.956          0.422          0              0              0              71
   4  Potato          1.284          0.931          2.800          0              0              0              103
   5  CellPhone       -1.197         0.746          2.830          0              0              0              52
   6  DishSponge      -1.135         0.911          -0.902         0              0              0              77
   7  ButterKnife     1.444          0.911          0.139          0              0              0              71
   8  ButterKnife     1.444          0.911          0.706          0              0              0              71
   9  WineBottle      -1.105         0.750          2.087          0              0              0              52
  10  Spoon           1.042          0.777          -0.014         0              90             0              72
  11  Spoon           1.365          0.912          -0.428         0              90             0              71
  12  Fork            0.103          0.759          -0.612         0              0              0              98
  13  Fork            1.207          0.912          0.422          0              0              0              71
  14  Spatula         -0.919         0.763          2.830          0              90             0              52
  15  Pot             0.502          0.939          -0.740         0              90             0              78
  16  Egg             -1.060         0.946          -0.562         0              0              0              77
  17  Egg             1.450          0.920          2.800          0              0              0              103
  18  Plate           1.324          2.155          1.043          0              0              0              62
  19  Knife           1.117          0.908          2.369          0              270            0              103
  20  Bowl            1.444          0.909          -0.144         0              0              0              71
  21  Bowl            -1.263         1.419          0.883          0              90             0              91
  22  Lettuce         1.365          0.982          0.139          0              0              0              71
  23  SaltShaker      1.034          0.882          2.261          0              0              0              103
  24  PepperShaker    -1.197         0.745          2.273          0              0              0              52
  25  PepperShaker    1.325          1.652          -0.513         0              0              0              53
  26  Bread           1.069          0.935          2.683          0              0              0              103
  27  Glassbottle     -1.378         0.751          0.883          0              90             0              91
  28  Fork            -0.082         0.759          -0.651         0              90             0              98
  29  Kettle          -1.357         0.739          3.024          0              240.000        0              52
  30  Tomato          -0.919         0.798          1.902          0              0              0              52
  31  Plate           0.168          0.117          -0.533         0              0              0              66
  32  CellPhone       -1.290         0.746          2.459          0              0              0              52
  33  Lettuce         -1.105         0.820          2.459          0              0              0              52
  34  Pot             0.802          0.939          -0.740         0              90             0              80
  35  SoapBottle      -1.325         2.154          1.262          0              0              0              70
  36  WineBottle      -1.194         0.342          0.883          0              90             0              91
  37  Spatula         1.117          0.901          2.477          0              180            0              103
  38  Bowl            -1.206         0.749          0.883          0              90             0              91
  39  Apple           0.951          0.946          2.261          0              0              0              103
  40  Cup             -1.475         0.748          2.087          0              0              0              52
  41  Knife           1.367          0.908          2.369          0              90             0              103
  42  Egg             -0.968         0.946          -0.509         0              0              0              77
  43  SaltShaker      1.088          0.112          0.656          0              0              0              63
  44  PepperShaker    -1.383         0.745          2.644          0              0              0              52
  45  Potato          0.103          0.803          -0.533         0              0              0              98
  46  ButterKnife     1.128          0.911          0.139          0              0              0              71
  47  DishSponge      -0.919         0.748          2.644          0              0              0              52
  48  Pan             -1.332         0.9            -0.699         0              345.0          0              77
  49  Spoon           -0.130         0.913          -0.359         0              0              0              77
  50  SprayBottle     -0.919         0.748          2.273          0              0              0              52
  51  Mug             1.215          0.943          -0.633         0              320.314        0              90
  52  DiningTable     -1.182         0.006          2.414          0              90             0
  53  Cabinet         1.184          2.059          0.375          0              0              0
  54  Cabinet         1.184          2.059          -0.635         0              0              0
  55  Cabinet         0.591          2.309          -0.645         0              0              0
  56  Cabinet         -0.574         2.059          -0.644         0              0              0
  57  Cabinet         -1.103         2.059          -0.644         0              0              0
  58  Cabinet         -1.185         2.059          -0.331         0              0              0
  59  Cabinet         -1.185         2.059          -0.281         0              0              0
  60  Cabinet         -1.185         2.059          0.375          0              0              0
  61  Cabinet         1.184          2.309          1.174          0              0              0
  62  Cabinet         1.184          2.309          0.424          0              0              0
  63  Cabinet         0.988          0.402          0.581          0              0              0
  64  Cabinet         0.988          0.402          0.531          0              0              0
  65  Cabinet         0.988          0.402          -0.178         0              0              0
  66  Cabinet         0.335          0.402          -0.348         0              0              0
  67  Cabinet         -0.374         0.402          -0.348         0              0              0
  68  Cabinet         0.988          0.402          1.231          0              0              0
  69  Cabinet         -1.185         2.309          1.374          0              0              0
  70  Cabinet         -1.185         2.309          0.424          0              0              0
  71  CounterTop      1.274          0.947          0.064          0              0              0
  72  Drawer          1.116          0.792          -0.015         0              0              0
  73  Drawer          -1.116         0.792          0.210          0              180            0
  74  Cabinet         -0.990         0.402          0.374          0              180            0
  75  Drawer          -1.116         0.792          -0.170         0              180            0
  76  Cabinet         -0.990         0.402          -0.335         0              180            0
  77  CounterTop      -1.001         0.947          -0.669         0              0              0
  78  StoveBurner     0.502          0.932          -0.740         0              90             0
  79  StoveBurner     0.801          0.932          -0.473         0              0              0
  80  StoveBurner     0.801          0.932          -0.740         0              90             0
  81  Drawer          1.116          0.792          1.081          0              0              0
  82  Sink            -0.013         0.912          -0.615         0              0              0
  83  Drawer          1.116          0.792          0.732          0              0              0
  84  StoveBurner     0.502          0.932          -0.469         0              0              0
  85  Drawer          1.116          0.792          0.367          0              0              0
  86  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  90  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  91  Fridge          -1.300         0.008          0.987          0              90             0
  92  GarbageCan      1.296          -0.024         1.465          0              0              0
  93  Window          -0.012         1.641          -0.972         90             0              0
  94  Window          1.598          1.646          2.489          90             270            0
  95  Toaster         1.356          0.900          1.044          0              270            0
  96  LightSwitch     0.118          1.353          3.799          0              180            0
  97  Microwave       -1.343         0.900          0.053          0              90             0
  98  SinkBasin       -0.029         0.748          -0.612         0              0              0
  99  Faucet          -0.026         0.927          -0.808         0              0              0
 100  Shelf           -1.182         0.127          2.414          0              90             0
 101  Stool           1.140          0.007          3.262          1.206          20.753         0
 102  Shelf           -1.182         0.435          2.414          0              90             0
 103  DiningTable     1.169          0.014          2.569          0              0              1.896
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: turn around and walk over to the kitchen table at the end of the room on the right | STEP 2: grab an apple off of the kitchen table there | STEP 3: turn right and walk to the end of the room, then another right and walk over to the microwave at the end of the room | STEP 4: place the apple inside of the microwave, cook it, and then take it back out | STEP 5: turn around and walk over to the sink on your right just up ahead | STEP 6: place the apple inside of the kitchen sink | END