Task: rinse and heat an apple

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          1.25           0              0              0
   1  SprayBottle     -0.458         1.654          -1.913         0              0              0              65
   2  SprayBottle     -0.778         0.910          -1.704         0              0              0              65
   3  Potato          1.473          1.307          -0.021         0              270            0              105
   4  Ladle           0.121          1.699          -1.839         0              0              0              73
   5  Ladle           1.342          1.700          -1.500         0              0              0              75
   6  ButterKnife     -0.477         0.911          -1.534         0              0              0              83
   7  ButterKnife     -2.323         0.910          0.204          0              90             0              85
   8  DishSponge      -2.131         0.774          -1.532         0              0              0              78
   9  Glassbottle     1.275          1.368          1.976          0              270            0              102
  10  Glassbottle     1.476          1.368          1.725          0              270            0              102
  11  Fork            -2.079         0.911          0.204          0              90             0              85
  12  Spoon           1.414          1.163          -1.002         0              270            0              89
  13  Spoon           0.949          0.776          -1.233         0              90             0              61
  14  Spatula         -2.323         0.925          0.291          0              0              0              85
  15  Spatula         -1.835         0.925          0.204          0              90             0              85
  16  Pot             -1.081         0.949          -1.81          0              0              0              79
  17  Egg             1.302          0.243          1.166          0              0              0              100
  18  Egg             1.476          1.396          2.225          0              270            0              102
  19  Knife           0.946          0.941          -1.704         0              0              0              83
  20  SoapBottle      1.148          0.114          -0.662         0              0              0              67
  21  SoapBottle      0.528          0.116          -1.585         0              90             0              77
  22  Tomato          1.332          1.857          2.181          0              270            0              102
  23  Tomato          -1.809         0.950          -1.448         0              0              0              81
  24  Bowl            0.726          1.656          -1.876         0              0              0              72
  25  Bowl            -2.201         0.911          0.204          0              0              0              85
  26  PepperShaker    0.475          0.906          -1.874         0              0              0              83
  27  Bread           0.569          0.989          -1.534         0              0              0              83
  28  Bread           1.414          1.240          -1.688         0              0              0              89
  29  Lettuce         1.335          1.231          -1.345         0              0              0              89
  30  Mug             -0.953         1.845          -1.802         0              0              0              63
  31  Apple           1.040          0.945          -1.448         0              0              0              83
  32  Apple           1.323          1.754          1.650          0              270            0              102
  33  Apple           1.381          0.249          1.108          0              0              0              100
  34  Tomato          -1.886         0.950          -1.707         0              0              0              81
  35  Glassbottle     1.375          1.368          1.851          0              270            0              102
  36  Knife           1.260          0.941          -1.331         0              0              0              61
  37  Plate           1.401          1.656          -1.185         0              0              0              75
  38  Fork            -2.116         0.911          -1.534         0              90             0              81
  39  Ladle           -0.401         0.955          -1.874         0              0              0              83
  40  Potato          1.505          1.307          0.188          0              270            0              105
  41  Lettuce         -2.201         0.979          0.463          0              0              0              85
  42  Kettle          1.150          0.116          -1.186         0              0              0              68
  43  Pen             -0.428         0.777          -1.532         0              90             0              82
  44  SaltShaker      -1.712         0.905          0.549          0              0              0              85
  45  Cup             1.476          1.367          1.975          0              270            0              102
  46  Egg             1.332          1.846          2.369          0              270            0              102
  47  Spatula         1.093          0.926          -0.990         0              0              0              83
  48  Bowl            1.388          1.720          1.838          0              270            0              102
  49  SprayBottle     1.459          0.213          1.137          0              0              0              100
  50  Pan             -1.081         0.949          -1.527         0              0              0              84
  51  SoapBottle      0.852          0.911          -1.534         0              0              0              83
  52  Pot             -1.431         0.949          -1.525         0              0              0              91
  53  ButterKnife     -1.886         0.910          -1.448         0              0              0              81
  54  PepperShaker    -0.911         1.845          -1.912         0              0              0              63
  55  DishSponge      -1.957         0.910          0.463          0              0              0              85
  56  Bread           -1.957         0.988          0.204          0              0              0              85
  57  Apple           1.325          1.402          2.351          0              270            0              102
  58  Spoon           -0.400         0.775          -1.565         0              90             0              82
  59  Mug             1.093          0.906          -1.331         0              0              0              83
  60  Drawer          0.860          0.75           0.430          0              0              0
  61  Drawer          0.871          0.75           -1.134         0              0              0
  62  Sink            0.156          0.817          -1.801         0              270            0
  63  Cabinet         -0.868         2.005          -1.690         0              0              0
  64  Cabinet         -1.661         2.059          -1.684         0              90             0
  65  Cabinet         -0.817         2.059          -1.689         0              0              0
  66  Cabinet         0.860          0.402          0.665          0              0              0
  67  Cabinet         0.860          0.402          -0.552         0              0              0
  68  Cabinet         0.860          0.402          -1.365         0              0              0
  69  Cabinet         -0.244         0.402          -1.389         0              0              0
  70  Cabinet         -0.815         0.402          -1.389         0              0              0
  71  Cabinet         1.159          2.059          -0.334         0              0              0
  72  Cabinet         0.488          2.059          -1.689         0              0              0
  73  Cabinet         -0.193         2.059          -1.689         0              0              0
  74  Drawer          0.860          0.75           -0.699         0              0              0
  75  Cabinet         1.159          2.059          -1.019         0              0              0
  76  Cabinet         -1.611         2.005          -1.690         0              0              0
  77  Cabinet         0.832          0.401          -1.393         0              90             0
  78  Drawer          -2.105         0.75           -1.389         0              0              0
  79  StoveBurner     -1.081         0.941          -1.809         0              0              0
  80  Cabinet         -0.202         0.401          -1.391         0              90             0
  81  CounterTop      -1.973         0.945          -1.707         0              0              0
  82  Drawer          -0.375         0.75           -1.389         0              0              0
  83  CounterTop      1.164          0.946          -0.649         0              0              0
  84  StoveBurner     -1.081         0.941          -1.527         0              0              0
  85  CounterTop      -2.096         0.945          0.291          0              0              0
  86  Cabinet         -2.237         0.402          -1.389         0              0              0
  87  Drawer          0.584          0.75           -1.389         0              0              0
  88  Drawer          -1.795         0.75           -1.389         0              0              0
  89  CounterTop      1.5            1.197          -0.654         0              0              0
  90  Cabinet         -1.667         0.402          -1.389         0              0              0
  91  StoveBurner     -1.430         0.941          -1.525         0              0              0
  92  Drawer          -0.685         0.75           -1.389         0              0              0
  93  StoveBurner     -1.430         0.941          -1.809         0              0              0
  94  LightSwitch     -2.539         1.289          2.568          0              90             0
  95  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  96  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  97  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  98  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  99  CoffeeMachine   1.082          0.900          -1.848         0              0              0
 100  GarbageCan      1.343          0.015          1.041          0              0              0
 101  HousePlant      1.440          1.153          0.593          0              0              0
 102  Fridge          1.417          0.0            2.101          0              0              0
 103  Window          -0.486         1.452          3.302          90             0              0
 104  SinkBasin       -0.063         0.765          -1.713         0              270            0
 105  Microwave       1.422          1.150          0.022          0              270            0
 106  Toaster         -2.066         0.900          -1.848         0              0              0
 107  Stool           -1.994         0.010          0.882          0              0              0
 108  Faucet          -0.096         1.041          -1.867         0              270            0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Turn around, walk to where the apple is on the counter on the left | STEP 2: Pick up the apple from the counter | STEP 3: Turn to the right, walk to the sink on the left | STEP 4: Place the apple in the sink, rinse with water, pick up the apple again | STEP 5: Turn to the left, walk to the microwave on the right | STEP 6: Open the microwave door, place the apple inside, and shut the door | END