Task: rinse and apple to 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           -2.25          0.900          1.75           0              270            0
   1  Pan             -0.386         1.655          -1.839         0              0              0              57
   2  SprayBottle     1.031          0.114          -0.773         0              0              0              59
   3  SprayBottle     0.589          0.116          -1.633         0              90             0              69
   4  Pen             1.420          0.217          1.08           0              0              0              92
   5  Pen             -1.962         0.913          -1.707         0              0              0              70
   6  Ladle           -2.079         0.954          0.118          0              0              0              77
   7  Ladle           0.852          0.955          -1.448         0              0              0              75
   8  ButterKnife     1.260          0.911          -1.672         0              0              0              75
   9  ButterKnife     -0.703         0.911          -1.874         0              0              0              75
  10  Glassbottle     0.041          1.656          -1.913         0              0              0              65
  11  Fork            0.585          0.774          -1.533         0              0              0              79
  12  Fork            1.176          0.911          0.372          0              0              0              75
  13  Spoon           -1.886         0.911          -1.879         0              0              0              73
  14  Spoon           1.035          0.776          0.431          0              0              0              52
  15  Egg             1.351          1.846          2.369          0              270            0              94
  16  SoapBottle      1.375          1.162          -1.688         0              0              0              81
  17  SoapBottle      -2.165         1.655          -1.748         0              180            0              56
  18  Tomato          1.343          0.951          0.372          0              0              0              75
  19  Tomato          1.356          1.760          1.963          0              270            0              94
  20  SaltShaker      1.176          0.906          -1.331         0              0              0              75
  21  SaltShaker      -2.039         0.905          -1.448         0              0              0              73
  22  Bread           -1.957         0.988          0.291          0              0              0              77
  23  Lettuce         1.414          1.231          -1.345         0              0              0              81
  24  Lettuce         1.375          1.231          -1.002         0              0              0              81
  25  Apple           1.381          0.249          1.137          0              0              0              92
  26  Tomato          1.453          1.760          1.713          0              270            0              94
  27  Glassbottle     1.325          1.368          2.226          0              270            0              94
  28  Knife           0.946          0.941          -1.704         0              0              0              75
  29  Plate           0.110          0.115          -1.536         0              90             0              72
  30  Fork            -2.201         0.911          0.549          0              0              0              77
  31  Ladle           -1.438         1.902          -1.838         0              0              0              68
  32  Potato          -1.732         0.952          -1.965         0              0              0              73
  33  Lettuce         -2.201         0.979          0.291          0              0              0              77
  34  Kettle          -1.431         0.949          -1.81          0              0              0              85
  35  Pen             0.416          0.777          -1.500         0              90             0              54
  36  SaltShaker      -2.445         0.905          0.032          0              0              0              77
  37  Cup             -1.125         1.851          -1.765         0              0              0              55
  38  Egg             -1.732         0.939          -1.534         0              0              0              73
  39  Spatula         1.176          0.926          -0.990         0              90             0              75
  40  Bowl            1.401          1.656          -1.500         0              0              0              67
  41  SprayBottle     -1.796         0.116          -1.538         0              0              0              82
  42  Pan             -1.081         0.949          -1.81          0              0              0              71
  43  SoapBottle      1.341          0.214          1.022          0              90             0              92
  44  Pot             0.967          0.9            0.249          0              0              0              75
  45  ButterKnife     -2.323         0.910          0.032          0              0              0              77
  46  PepperShaker    1.375          1.157          -0.659         0              0              0              81
  47  DishSponge      1.296          1.161          0.370          0              0              0              81
  48  Bread           -1.712         0.988          0.291          0              0              0              77
  49  Apple           1.473          1.300          0.188          0              270            0              97
  50  Spoon           -2.159         0.774          -1.500         0              270            0              70
  51  Mug             1.070          0.957          -1.641         0              0              0              91
  52  Drawer          0.860          0.75           0.430          0              0              0
  53  Drawer          0.871          0.75           -1.134         0              0              0
  54  Sink            0.156          0.817          -1.801         0              270            0
  55  Cabinet         -0.868         2.005          -1.690         0              0              0
  56  Cabinet         -1.661         2.059          -1.684         0              90             0
  57  Cabinet         -0.817         2.059          -1.689         0              0              0
  58  Cabinet         0.860          0.402          0.665          0              0              0
  59  Cabinet         0.860          0.402          -0.552         0              0              0
  60  Cabinet         0.860          0.402          -1.365         0              0              0
  61  Cabinet         -0.244         0.402          -1.389         0              0              0
  62  Cabinet         -0.815         0.402          -1.389         0              0              0
  63  Cabinet         1.159          2.059          -0.334         0              0              0
  64  Cabinet         0.488          2.059          -1.689         0              0              0
  65  Cabinet         -0.193         2.059          -1.689         0              0              0
  66  Drawer          0.860          0.75           -0.699         0              0              0
  67  Cabinet         1.159          2.059          -1.019         0              0              0
  68  Cabinet         -1.611         2.005          -1.690         0              0              0
  69  Cabinet         0.832          0.401          -1.393         0              90             0
  70  Drawer          -2.105         0.75           -1.389         0              0              0
  71  StoveBurner     -1.081         0.941          -1.809         0              0              0
  72  Cabinet         -0.202         0.401          -1.391         0              90             0
  73  CounterTop      -1.973         0.945          -1.707         0              0              0
  74  Drawer          -0.375         0.75           -1.389         0              0              0
  75  CounterTop      1.164          0.946          -0.649         0              0              0
  76  StoveBurner     -1.081         0.941          -1.527         0              0              0
  77  CounterTop      -2.096         0.945          0.291          0              0              0
  78  Cabinet         -2.237         0.402          -1.389         0              0              0
  79  Drawer          0.584          0.75           -1.389         0              0              0
  80  Drawer          -1.795         0.75           -1.389         0              0              0
  81  CounterTop      1.5            1.197          -0.654         0              0              0
  82  Cabinet         -1.667         0.402          -1.389         0              0              0
  83  StoveBurner     -1.430         0.941          -1.525         0              0              0
  84  Drawer          -0.685         0.75           -1.389         0              0              0
  85  StoveBurner     -1.430         0.941          -1.809         0              0              0
  86  LightSwitch     -2.539         1.289          2.568          0              90             0
  87  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  88  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  89  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  90  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  91  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  92  GarbageCan      1.343          0.015          1.041          0              0              0
  93  HousePlant      1.440          1.153          0.593          0              0              0
  94  Fridge          1.417          0.0            2.101          0              0              0
  95  Window          -0.486         1.452          3.302          90             0              0
  96  SinkBasin       -0.063         0.765          -1.713         0              270            0
  97  Microwave       1.422          1.150          0.022          0              270            0
  98  Toaster         -2.066         0.900          -1.848         0              0              0
  99  Stool           -1.994         0.010          0.882          0              0              0
 100  Faucet          -0.096         1.041          -1.867         0              270            0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: go to the microwave | STEP 2: take the apple out of the microwave | STEP 3: take the cooked apple to the sink | STEP 4:  rinse the apple in the sink | STEP 5: take the apple back to the microwave | STEP 6: put the apple back in the microwave | END