Task: Heat an apple and place it in 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           -0.25          0.931          -0.75          0              180            0
   1  DishSponge      0.890          0.199          -1.484         0              0              0              55
   2  DishSponge      0.446          1.042          0.738          0              0              0              46
   3  Kettle          1.817          0.205          -1.553         0              0              0              54
   4  Pot             0.120          1.053          -1.630         0              0              0              47
   5  Fork            1.347          1.043          0.807          0              0              0              46
   6  Spoon           0.657          1.048          -1.107         0              0              0              44
   7  Spoon           1.015          1.044          0.720          0              0              0              46
   8  Egg             1.882          0.177          2.414          0              270            0              60
   9  Plate           -1.342         1.502          1.885          0              90             0              59
  10  Plate           -1.106         2.041          -1.264         0              0              0              51
  11  SoapBottle      1.897          1.020          -1.191         0              90             0              50
  12  SoapBottle      -0.699         1.565          -1.545         0              0              0              49
  13  Bowl            1.741          0.203          -1.262         0              0              0              54
  14  Bowl            1.158          0.198          -1.484         0              0              0              55
  15  SaltShaker      0.979          0.194          -1.628         0              0              0              55
  16  PepperShaker    1.743          1.014          -1.191         0              0              0              50
  17  PepperShaker    -0.323         1.560          -1.619         0              0              0              49
  18  SoapBottle      1.589          1.020          -1.337         0              0              0              50
  19  Apple           0.761          1.097          0.231          0              90             0              42
  20  Potato          -1.145         1.769          -1.269         0              0              0              58
  21  Fork            -0.775         1.047          -1.828         0              90             0              44
  22  Kettle          1.036          1.566          -1.764         0              0              0              48
  23  Pan             0.965          1.035          -1.66          0              290.450        0              44
  24  Tomato          0.761          1.104          0.131          0              90             0              42
  25  SaltShaker      0.446          1.038          0.630          0              0              0              46
  26  Egg             -1.157         1.018          1.796          0              90             0              59
  27  Cup             -0.580         0.203          -1.193         0              0              0              53
  28  Spatula         1.701          1.058          0.199          0              0              0              46
  29  Knife           0.805          1.080          0.331          0              180            0              42
  30  Lettuce         -0.603         1.106          -1.289         0              0              0              44
  31  ButterKnife     0.160          1.043          0.630          0              0              0              46
  32  PepperShaker    -0.346         1.041          -1.828         0              0              0              44
  33  DishSponge      0.936          1.053          0.381          0              90             0              42
  34  Plate           -1.105         0.215          -1.555         0              0              0              52
  35  Bread           0.406          1.104          0.353          0              337.138        0              46
  36  Spoon           0.160          1.044          0.522          0              0              0              46
  37  Pot             0.389          1.053          -1.630         0              0              0              40
  38  Mug             0.936          1.048          0.231          0              90             0              42
  39  Bowl            -1.339         0.201          -1.338         0              0              0              52
  40  StoveBurner     0.389          1.043          -1.630         0              0              0
  41  SinkBasin       1.211          0.882          0.236          0              90             0
  42  Sink            0.928          0.941          0.324          0              90             0
  43  StoveBurner     0.000          1.048          -1.399         0              0              0
  44  CounterTop      0.196          1.082          -1.504         0              0              0
  45  StoveBurner     0.5            1.048          -1.399         0              0              0
  46  CounterTop      0.968          1.078          0.415          0              0              0
  47  StoveBurner     0.120          1.043          -1.630         0              0              0
  48  Cabinet         1.322          1.955          -1.309         0              0              0
  49  Cabinet         -0.866         1.955          -1.309         0              0              0
  50  Cabinet         1.993          1.403          -1.110         0              0              0
  51  Cabinet         -1.547         2.001          -1.110         0              0              0
  52  Cabinet         -1.526         0.593          -1.110         0              0              0
  53  Cabinet         -0.852         0.589          -1.110         0              0              0
  54  Cabinet         1.990          0.593          -1.110         0              0              0
  55  Cabinet         1.336          0.589          -1.110         0              0              0
  56  StoveBurner     0.250          1.048          -1.399         0              0              0
  57  Toaster         -0.550         1.035          -1.776         0              0              0
  58  Microwave       -1.189         1.624          -1.284         0              0              0
  59  Fridge          -1.286         0.020          1.832          0              90             0
  60  GarbageCan      1.856          -0.019         2.386          0              270            0
  61  LightSwitch     1.016          1.360          2.619          0              180            0
  62  CoffeeMachine   1.929          1.031          0.440          0              270            0
  63  StoveKnob       0.0            1.046          -1.220         0              0              0
  64  StoveKnob       0.090          1.046          -1.220         0              0              0
  65  StoveKnob       0.246          1.046          -1.220         0              0              0
  66  StoveKnob       0.490          1.046          -1.220         0              0              0
  67  StoveKnob       0.389          1.046          -1.220         0              0              0
  68  Faucet          1.277          1.265          0.384          0              90             0
  69  Chair           0.343          0.031          0.976          0              166.747        0
  70  Chair           1.008          0.031          1.034          0              180            0
  71  Chair           1.575          0.031          1.050          0              210.000        0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Turn to the left, then left again to the sink. | STEP 2: Pick up the apple to the left of the sink. | STEP 3: Carry the apple and turn to the left, then face the microwave on the left. | STEP 4: Open the microwave and place the apple inside. Shut the door then open it and take the apple out. Shut the door. | STEP 5: Carry the apple and turn to the left and go to the sink. | STEP 6: Place the apple in the sink. | END