Task: Put a clean apple 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           -1.5           0.900          -0.75          0              270            0
   1  Potato          1.757          0.950          0.739          0              90             0              46
   2  Potato          1.586          0.951          -1.288         0              90             0              50
   3  Ladle           1.805          1.698          -0.401         0              0              0              57
   4  DishSponge      0.926          0.910          -1.247         0              90             0              50
   5  DishSponge      1.769          2.136          0.767          0              0              0              54
   6  Pot             1.543          0.909          -0.320         0              90             0              49
   7  Fork            0.220          0.911          1.004          0              90             0              46
   8  Spoon           1.684          0.911          0.363          0              90             0              46
   9  Spatula         1.501          0.925          1.092          0              270            0              46
  10  Cup             1.451          0.908          0.363          0              90             0              46
  11  Cup             1.769          1.644          -1.806         0              0              0              60
  12  Plate           1.805          1.634          -0.828         0              0              0              58
  13  Knife           1.865          0.943          -1.288         0              0              0              50
  14  Tomato          1.501          0.974          0.827          0              90             0              46
  15  SaltShaker      1.451          0.905          0.622          0              90             0              46
  16  PepperShaker    0.732          0.905          1.269          0              90             0              46
  17  PepperShaker    1.769          2.132          0.918          0              0              0              54
  18  Lettuce         0.220          1.010          0.827          0              90             0              46
  19  Mug             1.796          0.906          -1.802         0              90             0              50
  20  Mug             1.684          0.905          0.518          0              90             0              46
  21  Apple           -0.790         1.740          -1.664         0              0              0              73
  22  Apple           -0.692         0.803          -1.594         0              0              0              73
  23  Apple           1.77           0.127          1.684          0              270            0              64
  24  Plate           1.802          1.647          -0.000         0              0              0              56
  25  SoapBottle      1.877          1.633          -1.378         0              0              0              59
  26  Cup             -0.644         1.387          -1.664         0              0              0              73
  27  Egg             -0.595         0.495          -1.605         0              0              0              73
  28  Fork            0.988          0.911          1.092          0              90             0              46
  29  Ladle           0.476          0.954          1.092          0              90             0              46
  30  Apple           1.771          1.072          -0.676         0              270            0              70
  31  SaltShaker      1.935          0.906          -1.631         0              90             0              50
  32  Pan             1.281          0.900          1.190          0              0              0              46
  33  Tomato          1.839          0.974          0.570          0              90             0              46
  34  Spatula         1.757          0.925          1.004          0              180            0              46
  35  Potato          1.738          1.055          -0.888         0              270            0              70
  36  Knife           1.839          0.943          0.467          0              0              0              46
  37  ButterKnife     0.989          0.910          0.827          0              90             0              46
  38  Bread           -0.741         0.537          -1.476         0              0              0              73
  39  Lettuce         1.757          1.010          1.092          0              90             0              46
  40  PepperShaker    1.769          1.640          -1.683         0              0              0              60
  41  Pot             1.807          0.909          0.075          0              180            0              47
  42  DishSponge      1.772          1.638          0.319          0              0              0              55
  43  Spoon           0.356          0.912          -1.352         0              90             0              50
  44  Bowl            0.732          0.909          1.092          0              90             0              46
  45  Mug             0.502          0.940          -1.460         0              0              0              72
  46  CounterTop      0.989          0.946          1.016          0              90             0
  47  StoveBurner     1.807          0.907          0.075          0              180            0
  48  StoveBurner     1.807          0.907          -0.320         0              180            0
  49  StoveBurner     1.543          0.907          -0.320         0              90             0
  50  CounterTop      0.989          0.946          -1.516         0              90             0
  51  Sink            1.100          0.906          -1.599         0              0              0
  52  StoveBurner     1.548          0.907          0.075          0              180            0
  53  Cabinet         1.658          2.299          1.313          0              0              0
  54  Cabinet         1.658          2.299          0.686          0              0              0
  55  Cabinet         1.658          2.049          0.673          0              0              0
  56  Cabinet         1.658          2.059          0.193          0              0              0
  57  Cabinet         1.658          2.059          -0.593         0              0              0
  58  Cabinet         1.658          2.049          -0.606         0              0              0
  59  Cabinet         1.658          2.049          -1.206         0              0              0
  60  Cabinet         1.658          2.049          -1.893         0              0              0
  61  Toaster         0.131          0.900          -1.589         0              0              0
  62  Window          -0.372         1.588          3.349          90             0              0
  63  Window          0.782          1.741          -1.893         90             0              0
  64  GarbageCan      1.770          -0.029         1.685          0              270            0
  65  SinkBasin       1.091          0.740          -1.599         0              0              0
  66  StoveKnob       1.364          0.821          0.086          48.421         270            0
  67  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  68  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  69  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  70  Microwave       1.752          0.900          -0.843         0              270            0
  71  LightSwitch     2.0            1.261          3.094          0              270            0
  72  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  73  Fridge          -0.533         0.0            -1.554         0              0              0
  74  Chair           1.068          0.000          1.752          0              191.622        0
  75  Faucet          1.110          1.138          -1.764         0              270            0
  76  Chair           0.357          0.000          1.710          0              178.899        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn around and go forward to the microwave. | STEP 2: Open the microwave, take out the apple from inside, then close it. | STEP 3: Turn right to face the sink. | STEP 4: Clean the apple in the sink. | STEP 5: Turn left to face the microwave | STEP 6: Open the microwave, put the apple inside, then close it. | END