Task: To rinse off an apple and put 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           1.75           0.900          3.0            0              180            0
   1  Potato          -0.374         1.104          -1.357         0              0              0              74
   2  Potato          1.771          1.055          -0.676         0              270            0              71
   3  ButterKnife     1.245          0.910          0.915          0              90             0              47
   4  ButterKnife     1.762          0.910          0.415          0              90             0              47
   5  DishSponge      1.844          1.638          0.319          0              0              0              56
   6  DishSponge      1.840          1.645          -1.683         0              0              0              61
   7  Pot             1.548          0.909          0.075          0              180            0              53
   8  Pot             1.543          0.909          -0.320         0              90             0              50
   9  Spoon           1.101          0.761          -1.544         0              0              0              66
  10  Spatula         0.963          0.775          -1.710         0              90             0              66
  11  Spatula         1.501          0.910          1.003          4.283          270            358.958        47
  12  Egg             0.988          0.945          1.092          0              90             0              47
  13  Egg             1.170          0.798          -1.765         0              0              0              66
  14  Cup             -0.741         0.458          -1.670         0              0              0              74
  15  Cup             1.805          1.652          -0.353         0              0              0              58
  16  Plate           1.796          0.912          -1.717         0              90             0              51
  17  Knife           1.839          0.943          0.311          0              0              0              47
  18  SoapBottle      1.451          0.908          0.467          0              90             0              47
  19  Tomato          -0.692         1.746          -1.664         0              0              0              74
  20  SaltShaker      1.656          0.906          -1.288         0              90             0              51
  21  SaltShaker      1.762          0.905          0.622          0              90             0              47
  22  PepperShaker    1.865          0.906          -1.460         0              90             0              51
  23  Lettuce         0.476          1.010          1.180          0              90             0              47
  24  Mug             1.796          0.906          -1.288         0              90             0              51
  25  Plate           -0.741         0.748          -1.594         0              0              0              74
  26  SoapBottle      0.732          0.908          1.092          0              90             0              47
  27  Cup             1.842          2.135          0.880          0              0              0              55
  28  Egg             -0.692         1.424          -1.594         0              0              0              74
  29  Fork            1.529          0.911          0.363          0              180            0              47
  30  Ladle           1.201          0.926          0.743          3.353          0              346.984        47
  31  Apple           1.738          1.072          -0.888         0              270            0              71
  32  SaltShaker      1.501          0.899          1.004          0              90             0              47
  33  Pan             1.281          0.900          1.190          0              0              0              47
  34  Tomato          1.739          0.134          1.588          0              270            0              65
  35  Spatula         1.696          1.080          0.074          0              0              49.769         53
  36  Potato          1.684          0.950          0.467          0              90             0              47
  37  Knife           0.476          0.943          1.092          0              180            0              47
  38  ButterKnife     0.296          0.9            -1.296         0              14.568         0              51
  39  Bread           1.616          0.977          0.758          0              50.285         358.761        47
  40  Lettuce         1.757          1.010          1.092          0              90             0              47
  41  PepperShaker    0.220          0.905          0.739          0              90             0              47
  42  Pot             1.807          0.909          0.075          0              180            0              48
  43  DishSponge      0.989          0.910          0.827          0              90             0              47
  44  Spoon           0.894          0.761          -1.599         0              90             0              66
  45  Bowl            0.193          0.900          1.170          0              0              0              47
  46  Mug             0.502          0.940          -1.460         0              0              0              73
  47  CounterTop      0.989          0.946          1.016          0              90             0
  48  StoveBurner     1.807          0.907          0.075          0              180            0
  49  StoveBurner     1.807          0.907          -0.320         0              180            0
  50  StoveBurner     1.543          0.907          -0.320         0              90             0
  51  CounterTop      0.989          0.946          -1.516         0              90             0
  52  Sink            1.100          0.906          -1.599         0              0              0
  53  StoveBurner     1.548          0.907          0.075          0              180            0
  54  Cabinet         1.658          2.299          1.313          0              0              0
  55  Cabinet         1.658          2.299          0.686          0              0              0
  56  Cabinet         1.658          2.049          0.673          0              0              0
  57  Cabinet         1.658          2.059          0.193          0              0              0
  58  Cabinet         1.658          2.059          -0.593         0              0              0
  59  Cabinet         1.658          2.049          -0.606         0              0              0
  60  Cabinet         1.658          2.049          -1.206         0              0              0
  61  Cabinet         1.658          2.049          -1.893         0              0              0
  62  Toaster         0.131          0.900          -1.589         0              0              0
  63  Window          -0.372         1.588          3.349          90             0              0
  64  Window          0.782          1.741          -1.893         90             0              0
  65  GarbageCan      1.770          -0.029         1.685          0              270            0
  66  SinkBasin       1.091          0.740          -1.599         0              0              0
  67  StoveKnob       1.364          0.821          0.086          48.421         270            0
  68  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  69  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  70  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  71  Microwave       1.752          0.900          -0.843         0              270            0
  72  LightSwitch     2.0            1.261          3.094          0              270            0
  73  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  74  Fridge          -0.533         0.0            -1.554         0              0              0
  75  Chair           1.068          0.000          1.752          0              191.622        0
  76  Faucet          1.110          1.138          -1.764         0              270            0
  77  Chair           0.357          0.000          1.710          0              178.899        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn right, turn left at the door, turn left at the fridge, and walk up to the microwave.  | STEP 2: Open the microwave door, pick up the apple to the right of the potato, close the door.  | STEP 3: Turn right to face the sink.  | STEP 4: Put the apple down in the sink to the left of the spatula, rinse off the apple, pick up the apple.  | STEP 5: Turn left to face the microwave.  | STEP 6: Open the microwave door, place the apple inside the microwave, close the door.  | END