Task: place a microwaved apple inside the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.908          3.0            0              0              0
   1  SprayBottle     1.128          0.910          0.706          0              0              0              66
   2  Potato          -1.378         1.466          1.092          0              90             0              86
   3  Potato          -0.082         0.803          -0.533         0              0              0              93
   4  CellPhone       -1.475         0.746          2.830          0              0              0              47
   5  CellPhone       0.951          0.884          2.584          0              0              0              98
   6  DishSponge      1.297          1.660          0.194          0              0              0              48
   7  DishSponge      1.450          0.885          2.369          0              0              0              98
   8  ButterKnife     1.128          0.911          -0.428         0              0              0              66
   9  WineBottle      -0.919         0.749          2.459          0              0              0              47
  10  Kettle          0.802          0.939          -0.740         0              90             0              75
  11  Kettle          -1.325         1.656          -0.519         0              0              0              53
  12  Spoon           -0.020         0.759          -0.612         0              0              0              93
  13  Fork            1.200          0.886          2.584          0              0              0              98
  14  Fork            1.365          0.912          0.422          0              0              0              66
  15  Tomato          1.128          0.961          0.139          0              0              0              66
  16  Tomato          -1.149         1.338          1.197          0              90             0              86
  17  SoapBottle      -0.658         0.913          -0.430         0              90             0              72
  18  Bread           1.365          0.974          -0.144         0              0              0              66
  19  Lettuce         -1.012         0.819          2.644          0              0              0              47
  20  Lettuce         -1.320         0.822          1.092          0              90             0              86
  21  Bread           -1.383         0.813          2.459          0              0              0              47
  22  Glassbottle     -0.919         0.750          2.273          0              0              0              47
  23  Fork            1.444          0.912          0.706          0              0              0              66
  24  Kettle          1.444          0.912          0.139          0              0              0              66
  25  Tomato          -1.162         0.391          1.092          0              90             0              86
  26  Plate           1.131          0.116          1.081          0              0              0              63
  27  CellPhone       -1.156         0.774          -0.205         0              180            0              70
  28  Lettuce         1.284          0.957          2.261          0              0              0              98
  29  Pot             0.510          0.936          -0.491         0              0              0              79
  30  SoapBottle      1.034          0.887          2.800          0              0              0              98
  31  WineBottle      -1.264         0.117          0.289          0              180            0              69
  32  Spatula         1.200          0.901          2.261          0              0              0              98
  33  Bowl            -1.206         1.419          0.883          0              90             0              86
  34  Apple           -1.149         0.811          1.092          0              90             0              86
  35  Cup             -1.361         1.014          -0.057         0              90             0              92
  36  Knife           -0.813         0.934          -0.509         0              0              0              72
  37  Egg             -1.263         1.455          1.092          0              90             0              86
  38  SaltShaker      -0.919         0.745          1.902          0              0              0              47
  39  PepperShaker    1.450          0.882          2.584          0              0              0              98
  40  Potato          -1.105         0.794          2.273          0              0              0              47
  41  ButterKnife     -1.105         0.749          1.902          0              0              0              47
  42  DishSponge      1.127          0.775          0.733          0              0              0              78
  43  Pan             -1.332         0.9            -0.699         0              345.0          0              72
  44  Spoon           -1.197         0.750          2.830          0              0              0              47
  45  SprayBottle     1.284          0.885          2.692          0              0              0              98
  46  Mug             -1.378         1.416          0.883          0              90             0              86
  47  DiningTable     -1.182         0.006          2.414          0              90             0
  48  Cabinet         1.184          2.059          0.375          0              0              0
  49  Cabinet         1.184          2.059          -0.635         0              0              0
  50  Cabinet         0.591          2.309          -0.645         0              0              0
  51  Cabinet         -0.574         2.059          -0.644         0              0              0
  52  Cabinet         -1.103         2.059          -0.644         0              0              0
  53  Cabinet         -1.185         2.059          -0.331         0              0              0
  54  Cabinet         -1.185         2.059          -0.281         0              0              0
  55  Cabinet         -1.185         2.059          0.375          0              0              0
  56  Cabinet         1.184          2.309          1.174          0              0              0
  57  Cabinet         1.184          2.309          0.424          0              0              0
  58  Cabinet         0.988          0.402          0.581          0              0              0
  59  Cabinet         0.988          0.402          0.531          0              0              0
  60  Cabinet         0.988          0.402          -0.178         0              0              0
  61  Cabinet         0.335          0.402          -0.348         0              0              0
  62  Cabinet         -0.374         0.402          -0.348         0              0              0
  63  Cabinet         0.988          0.402          1.231          0              0              0
  64  Cabinet         -1.185         2.309          1.374          0              0              0
  65  Cabinet         -1.185         2.309          0.424          0              0              0
  66  CounterTop      1.274          0.947          0.064          0              0              0
  67  Drawer          1.116          0.792          -0.015         0              0              0
  68  Drawer          -1.116         0.792          0.210          0              180            0
  69  Cabinet         -0.990         0.402          0.374          0              180            0
  70  Drawer          -1.116         0.792          -0.170         0              180            0
  71  Cabinet         -0.990         0.402          -0.335         0              180            0
  72  CounterTop      -1.001         0.947          -0.669         0              0              0
  73  StoveBurner     0.502          0.932          -0.740         0              90             0
  74  StoveBurner     0.801          0.932          -0.473         0              0              0
  75  StoveBurner     0.801          0.932          -0.740         0              90             0
  76  Drawer          1.116          0.792          1.081          0              0              0
  77  Sink            -0.013         0.912          -0.615         0              0              0
  78  Drawer          1.116          0.792          0.732          0              0              0
  79  StoveBurner     0.502          0.932          -0.469         0              0              0
  80  Drawer          1.116          0.792          0.367          0              0              0
  81  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  82  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  83  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  85  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  86  Fridge          -1.300         0.008          0.987          0              90             0
  87  GarbageCan      1.296          -0.024         1.465          0              0              0
  88  Window          -0.012         1.641          -0.972         90             0              0
  89  Window          1.598          1.646          2.489          90             270            0
  90  Toaster         1.356          0.900          1.044          0              270            0
  91  LightSwitch     0.118          1.353          3.799          0              180            0
  92  Microwave       -1.343         0.900          0.053          0              90             0
  93  SinkBasin       -0.029         0.748          -0.612         0              0              0
  94  Faucet          -0.026         0.927          -0.808         0              0              0
  95  Shelf           -1.182         0.127          2.414          0              90             0
  96  Stool           1.140          0.007          3.262          1.206          20.753         0
  97  Shelf           -1.182         0.435          2.414          0              90             0
  98  DiningTable     1.169          0.014          2.569          0              0              1.896
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: turn around and walk over to the fridge on the right side of the room | STEP 2: grab an apple out of the fridge | STEP 3: turn left and walk over to the kitchen counter on the right to the left of the fridge | STEP 4: place the apple inside the microwave there on the kitchen counter to cook, then take it back out | STEP 5: turn left and move to the sink just ahead on the left a bit | STEP 6: place the apple inside the sink to the right of everything else in the sink | END