Task: Rinse an 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           -0.75          0.900          1.5            0              0              0
   1  Pen             0.292          0.913          -1.395         0              0              0              57
   2  Pen             1.093          0.913          -0.990         0              0              0              78
   3  Potato          0.475          0.953          -1.448         0              0              0              78
   4  Potato          -1.835         0.952          0.204          0              0              0              80
   5  Ladle           1.342          1.700          -1.421         0              0              0              70
   6  ButterKnife     1.260          0.911          -1.672         0              0              0              78
   7  ButterKnife     -1.835         0.910          0.549          0              0              0              80
   8  DishSponge      -2.116         0.910          -1.448         0              0              0              76
   9  Glassbottle     -1.881         1.656          -1.807         0              90             0              59
  10  Glassbottle     -0.342         0.117          -1.538         0              0              0              64
  11  Spoon           -2.103         0.775          -1.565         0              90             0              73
  12  Spatula         0.292          0.926          -1.423         0              0              0              57
  13  Spatula         1.494          1.177          -1.688         0              0              0              84
  14  Pot             -1.081         0.949          -1.81          0              0              0              74
  15  Egg             1.499          0.243          1.137          0              0              0              95
  16  Egg             0.187          0.940          -1.962         0              0              0              57
  17  Cup             1.176          0.911          -1.331         0              0              0              78
  18  Cup             -1.712         0.910          0.377          0              0              0              80
  19  Knife           -2.323         0.940          0.032          0              0              0              80
  20  Knife           0.758          0.941          -1.448         0              0              0              78
  21  Tomato          1.420          1.760          1.901          0              270            0              97
  22  Tomato          1.426          1.407          2.101          0              270            0              97
  23  Lettuce         1.375          1.436          1.976          0              270            0              97
  24  Lettuce         1.375          1.231          -1.345         0              0              0              84
  25  Mug             1.070          0.957          -1.641         0              0              0              94
  26  Apple           1.375          1.196          -1.002         0              0              0              84
  27  Apple           -2.079         0.945          0.032          0              0              0              80
  28  Apple           1.376          1.300          -0.021         0              270            0              100
  29  Tomato          1.426          1.407          2.226          0              270            0              97
  30  Glassbottle     0.976          0.118          0.372          0              0              0              61
  31  Knife           -1.809         0.940          -1.620         0              0              0              76
  32  Plate           0.649          0.117          -1.633         0              90             0              72
  33  Fork            0.641          0.774          -1.533         0              0              0              82
  34  Ladle           1.342          1.700          -1.185         0              0              0              70
  35  Potato          -1.962         0.952          -1.534         0              0              0              76
  36  Lettuce         -2.201         0.979          0.291          0              0              0              80
  37  Kettle          0.770          0.9            -1.836         0              0              0              78
  38  Pen             0.664          0.913          -1.704         0              90             0              78
  39  SaltShaker      -2.323         0.905          0.118          0              0              0              80
  40  Cup             1.323          1.720          1.650          0              270            0              97
  41  Egg             1.275          1.396          2.226          0              270            0              97
  42  Spatula         -2.323         0.925          0.463          0              0              0              80
  43  Bowl            -1.039         1.851          -1.839         0              0              0              58
  44  SprayBottle     -1.809         0.909          -1.965         0              0              0              76
  45  Pan             -1.431         0.949          -1.525         0              0              0              86
  46  SoapBottle      -1.396         1.858          -1.802         0              0              0              71
  47  Pot             -1.431         0.949          -1.81          0              0              0              88
  48  ButterKnife     -2.323         0.910          0.377          0              90             0              80
  49  PepperShaker    -0.627         0.906          -1.534         0              0              0              78
  50  DishSponge      0.563          1.655          -1.801         0              0              0              67
  51  Bread           1.494          1.240          -0.659         0              0              0              84
  52  Apple           1.459          0.249          1.022          0              0              0              95
  53  Spoon           -0.288         0.775          -1.565         0              90             0              77
  54  Mug             1.150          0.110          -1.186         0              0              0              63
  55  Drawer          0.860          0.75           0.430          0              0              0
  56  Drawer          0.871          0.75           -1.134         0              0              0
  57  Sink            0.156          0.817          -1.801         0              270            0
  58  Cabinet         -0.868         2.005          -1.690         0              0              0
  59  Cabinet         -1.661         2.059          -1.684         0              90             0
  60  Cabinet         -0.817         2.059          -1.689         0              0              0
  61  Cabinet         0.860          0.402          0.665          0              0              0
  62  Cabinet         0.860          0.402          -0.552         0              0              0
  63  Cabinet         0.860          0.402          -1.365         0              0              0
  64  Cabinet         -0.244         0.402          -1.389         0              0              0
  65  Cabinet         -0.815         0.402          -1.389         0              0              0
  66  Cabinet         1.159          2.059          -0.334         0              0              0
  67  Cabinet         0.488          2.059          -1.689         0              0              0
  68  Cabinet         -0.193         2.059          -1.689         0              0              0
  69  Drawer          0.860          0.75           -0.699         0              0              0
  70  Cabinet         1.159          2.059          -1.019         0              0              0
  71  Cabinet         -1.611         2.005          -1.690         0              0              0
  72  Cabinet         0.832          0.401          -1.393         0              90             0
  73  Drawer          -2.105         0.75           -1.389         0              0              0
  74  StoveBurner     -1.081         0.941          -1.809         0              0              0
  75  Cabinet         -0.202         0.401          -1.391         0              90             0
  76  CounterTop      -1.973         0.945          -1.707         0              0              0
  77  Drawer          -0.375         0.75           -1.389         0              0              0
  78  CounterTop      1.164          0.946          -0.649         0              0              0
  79  StoveBurner     -1.081         0.941          -1.527         0              0              0
  80  CounterTop      -2.096         0.945          0.291          0              0              0
  81  Cabinet         -2.237         0.402          -1.389         0              0              0
  82  Drawer          0.584          0.75           -1.389         0              0              0
  83  Drawer          -1.795         0.75           -1.389         0              0              0
  84  CounterTop      1.5            1.197          -0.654         0              0              0
  85  Cabinet         -1.667         0.402          -1.389         0              0              0
  86  StoveBurner     -1.430         0.941          -1.525         0              0              0
  87  Drawer          -0.685         0.75           -1.389         0              0              0
  88  StoveBurner     -1.430         0.941          -1.809         0              0              0
  89  LightSwitch     -2.539         1.289          2.568          0              90             0
  90  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  91  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  92  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  93  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  94  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  95  GarbageCan      1.343          0.015          1.041          0              0              0
  96  HousePlant      1.440          1.153          0.593          0              0              0
  97  Fridge          1.417          0.0            2.101          0              0              0
  98  Window          -0.486         1.452          3.302          90             0              0
  99  SinkBasin       -0.063         0.765          -1.713         0              270            0
 100  Microwave       1.422          1.150          0.022          0              270            0
 101  Toaster         -2.066         0.900          -1.848         0              0              0
 102  Stool           -1.994         0.010          0.882          0              0              0
 103  Faucet          -0.096         1.041          -1.867         0              270            0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Walk across the room to reach the corner shelf where the bread and apple are. | STEP 2: Pick up the green apple from the shelf. | STEP 3: Right right to walk to the sink. | STEP 4: Rinse the apple in the sink, removing it afterwards. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the apple in the microwave. | END