Task: Pick up apple, warm in microwave, put apple in sink.

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            0.931          -0.25          0              270            0
   1  DishSponge      0.848          1.054          0.331          0              90             0              46
   2  DishSponge      -1.339         0.202          -1.482         0              0              0              56
   3  ButterKnife     1.514          1.043          0.545          0              0              0              50
   4  ButterKnife     0.936          1.053          0.281          0              90             0              46
   5  Pot             0.250          1.057          -1.4           0              0              0              60
   6  Fork            -0.432         1.047          -1.181         0              0              0              48
   7  Fork            -0.346         1.047          -1.720         0              0              0              48
   8  Spoon           0.936          1.056          0.281          0              90             0              46
   9  Spatula         0.657          1.061          -1.118         0              0              0              48
  10  Cup             -1.419         1.489          1.885          0              90             0              63
  11  Plate           -1.027         0.215          -1.338         0              0              0              56
  12  Tomato          0.160          1.094          0.522          0              0              0              50
  13  Tomato          -1.268         1.999          1.974          0              90             0              63
  14  Bowl            -1.029         2.027          -1.409         0              0              0              55
  15  Bowl            1.820          1.018          -1.411         0              0              0              54
  16  PepperShaker    1.247          0.194          -1.484         0              0              0              59
  17  PepperShaker    1.741          0.199          -1.553         0              0              0              58
  18  Mug             1.036          1.560          -1.764         0              0              0              52
  19  Apple           0.980          1.097          0.381          0              90             0              46
  20  Apple           1.151          0.936          0.304          0              90             0              45
  21  Apple           0.848          1.086          0.632          0              0              0              50
  22  SoapBottle      1.514          1.044          0.632          0              0              0              50
  23  Apple           -1.366         1.271          2.153          0              90             0              63
  24  Potato          -1.386         1.766          1.796          0              90             0              63
  25  Fork            0.031          1.033          0.122          0              0              0              50
  26  Kettle          1.188          1.566          -1.463         0              0              0              52
  27  Pan             0.965          1.035          -1.66          0              290.450        0              48
  28  Tomato          -1.169         1.279          1.796          0              90             0              63
  29  SaltShaker      1.238          1.041          -1.397         0              0              0              48
  30  Egg             -1.103         1.282          1.974          0              90             0              63
  31  Cup             1.512          0.205          -1.625         0              0              0              58
  32  Spatula         0.848          1.058          0.807          0              180            0              50
  33  Knife           0.877          1.042          -1.362         90             315            0              48
  34  Lettuce         0.858          1.103          0.135          30.591         304.297        0              46
  35  ButterKnife     1.514          1.043          0.763          0              0              0              50
  36  PepperShaker    -0.473         1.560          -1.841         0              0              0              53
  37  DishSponge      1.790          1.042          0.738          0              0              0              50
  38  Plate           1.588          0.217          -1.335         0              0              0              58
  39  Bread           0.405          1.104          0.352          0              337.138        0              50
  40  Spoon           1.181          1.044          0.589          0              0              0              50
  41  Pot             -0.689         1.048          -1.397         0              270            0              48
  42  Mug             -1.145         1.711          -1.300         0              0              0              62
  43  Bowl            -1.349         1.712          1.974          0              90             0              63
  44  StoveBurner     0.389          1.043          -1.630         0              0              0
  45  SinkBasin       1.211          0.882          0.236          0              90             0
  46  Sink            0.928          0.941          0.324          0              90             0
  47  StoveBurner     0.000          1.048          -1.399         0              0              0
  48  CounterTop      0.196          1.082          -1.504         0              0              0
  49  StoveBurner     0.5            1.048          -1.399         0              0              0
  50  CounterTop      0.968          1.078          0.415          0              0              0
  51  StoveBurner     0.120          1.043          -1.630         0              0              0
  52  Cabinet         1.322          1.955          -1.309         0              0              0
  53  Cabinet         -0.866         1.955          -1.309         0              0              0
  54  Cabinet         1.993          1.403          -1.110         0              0              0
  55  Cabinet         -1.547         2.001          -1.110         0              0              0
  56  Cabinet         -1.526         0.593          -1.110         0              0              0
  57  Cabinet         -0.852         0.589          -1.110         0              0              0
  58  Cabinet         1.990          0.593          -1.110         0              0              0
  59  Cabinet         1.336          0.589          -1.110         0              0              0
  60  StoveBurner     0.250          1.048          -1.399         0              0              0
  61  Toaster         -0.550         1.035          -1.776         0              0              0
  62  Microwave       -1.189         1.624          -1.284         0              0              0
  63  Fridge          -1.286         0.020          1.832          0              90             0
  64  GarbageCan      1.856          -0.019         2.386          0              270            0
  65  LightSwitch     1.016          1.360          2.619          0              180            0
  66  CoffeeMachine   1.929          1.031          0.440          0              270            0
  67  StoveKnob       0.0            1.046          -1.220         0              0              0
  68  StoveKnob       0.090          1.046          -1.220         0              0              0
  69  StoveKnob       0.246          1.046          -1.220         0              0              0
  70  StoveKnob       0.490          1.046          -1.220         0              0              0
  71  StoveKnob       0.389          1.046          -1.220         0              0              0
  72  Faucet          1.277          1.265          0.384          0              90             0
  73  Chair           0.343          0.031          0.976          0              166.747        0
  74  Chair           1.008          0.031          1.034          0              180            0
  75  Chair           1.575          0.031          1.050          0              210.000        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Proceed to area to the left of the sink on your right.  Turn right to face sink. | STEP 2: Pick up apple from counter, to the right of the sponge and spoon. | STEP 3: Turn left, go to wall.  Turn left, go to oven and microwave. | STEP 4: Open microwave door, place apple to right of mug, close door.  Wait three seconds, open microwave door, remove apple, close door. | STEP 5: Turn left, proceed to sink on right, turn left to face sink. | STEP 6: Place apple in sink below other apple. | END