Task: Take apple off of table, microwave, and return it to table

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           0.900          3.25           0              0              0
   1  Potato          -1.486         1.402          3.836          0              180            0              83
   2  Potato          0.800          0.866          1.072          0              0              0              54
   3  DishSponge      -2.502         1.848          1.452          0              0              0              72
   4  DishSponge      0.650          0.814          2.285          0              0              0              59
   5  ButterKnife     -1.053         0.900          1.555          0              180            0              95
   6  Spatula         1.024          0.838          2.371          0              270            0              59
   7  Fork            0.771          0.691          1.016          0              270            0              65
   8  Egg             0.989          0.060          2.918          0              0              0              88
   9  Plate           -2.786         1.402          3.897          0              0              0              68
  10  Cup             0.950          0.822          2.285          0              0              0              59
  11  Cup             -2.454         1.041          1.597          0              0              0              57
  12  Knife           1.024          0.846          2.631          0              0              0              59
  13  Knife           -1.185         0.923          1.349          0              180            0              95
  14  SoapBottle      1.024          0.822          0.895          0              0              0              54
  15  SoapBottle      1.024          0.822          1.028          0              0              0              54
  16  Bowl            -2.577         0.993          2.333          0              90             0              86
  17  Bowl            -1.343         0.126          3.674          0              0              0              74
  18  PepperShaker    0.704          0.122          2.316          0              0              0              69
  19  PepperShaker    -1.317         0.896          1.143          0              90             0              95
  20  SaltShaker      -1.317         0.896          0.937          0              90             0              95
  21  SaltShaker      -2.117         0.123          3.750          0              0              0              80
  22  Bread           -2.636         0.820          2.277          0              90             0              86
  23  Mug             -1.053         0.895          1.452          0              90             0              95
  24  Apple           -0.524         0.961          1.143          0              90             0              95
  25  Apple           -1.317         0.961          1.555          0              90             0              95
  26  Plate           0.742          0.129          0.981          0              0              0              56
  27  Fork            -2.492         0.823          3.554          0              90             0              77
  28  Bread           -0.022         0.038          2.395          0              318.551        180            95
  29  Spatula         0.894          0.827          2.442          325.304        174.955        355.551        59
  30  PaperTowelRoll  -0.657         1.004          1.040          0              90             0              95
  31  Potato          -2.461         1.234          2.333          0              90             0              86
  32  SoapBottle      -0.789         0.900          1.246          0              90             0              95
  33  Egg             -2.645         1.643          2.109          0              90             0              86
  34  Cup             0.704          0.125          2.238          0              0              0              69
  35  Pot             0.642          0.850          1.375          0              0              0              71
  36  SaltShaker      0.875          0.819          2.631          0              0              0              59
  37  Pan             -2.667         0.812          3.74           0              137.145        0              77
  38  PepperShaker    0.650          0.819          1.028          0              0              0              54
  39  ButterKnife     -0.524         0.900          1.246          0              90             0              95
  40  Tomato          -0.913         0.962          1.484          0              0              0              95
  41  DishSponge      0.725          0.822          0.939          0              0              0              54
  42  Lettuce         -0.580         0.956          1.358          31.822         0              0              95
  43  Spoon           0.635          0.693          2.199          0              90             0              48
  44  Apple           -1.185         0.961          1.452          0              90             0              95
  45  Knife           -1.819         0.846          3.567          0              0              0              77
  46  Mug             -1.109         0.940          1.203          0              0              0              95
  47  Bowl            -2.504         1.847          2.346          0              0              0              64
  48  Drawer          0.729          0.703          2.199          0              0              0
  49  Cabinet         -1.962         1.926          3.733          0              0              0
  50  Cabinet         -2.377         2.014          1.058          0              0              0
  51  Drawer          0.729          0.703          2.532          0              0              0
  52  Cabinet         -2.622         1.925          3.733          0              0              0
  53  StoveBurner     0.913          0.843          1.375          0              0              0
  54  CounterTop      0.864          0.858          0.984          0              0              0
  55  Cabinet         -1.976         1.779          3.734          0              0              0
  56  Cabinet         0.580          0.385          0.819          0              0              0
  57  Cabinet         -2.379         1.408          1.677          0              0              0
  58  Cabinet         -0.419         1.703          3.736          0              0              0
  59  CounterTop      0.864          0.858          2.371          0              0              0
  60  Sink            -1.702         0.726          3.828          0              180            0
  61  Cabinet         0.580          0.385          2.694          0              0              0
  62  Cabinet         -2.379         0.637          1.677          0              0              0
  63  Cabinet         -0.419         0.674          3.736          0              0              0
  64  Cabinet         -2.377         2.014          2.558          0              0              0
  65  Drawer          0.729          0.703          0.980          0              0              0
  66  Drawer          -2.114         0.706          3.657          0              0              0
  67  Cabinet         -2.377         1.691          2.572          0              0              0
  68  Cabinet         -2.951         1.925          3.733          0              0              0
  69  Cabinet         0.580          0.385          2.360          0              0              0
  70  Cabinet         -2.426         0.435          3.421          0              0              0
  71  StoveBurner     0.642          0.843          1.375          0              0              0
  72  Cabinet         -2.377         1.927          1.686          0              0              0
  73  Cabinet         -2.377         2.013          3.177          0              0              0
  74  Cabinet         -1.136         0.385          3.516          0              0              0
  75  StoveBurner     0.913          0.843          1.768          0              0              0
  76  Cabinet         -1.974         0.385          3.516          0              0              0
  77  CounterTop      -2.081         0.858          3.799          0              0              0
  78  Cabinet         -2.426         0.435          3.174          0              0              0
  79  Cabinet         -2.377         2.014          1.693          0              0              0
  80  Cabinet         -1.986         0.385          3.511          0              0              0
  81  StoveBurner     0.642          0.843          1.768          0              0              0
  82  Cabinet         -1.098         1.926          3.729          0              0              0
  83  Microwave       -1.529         1.250          3.881          1.622          180            0
  84  CoffeeMachine   1.000          0.812          2.492          0              270            0
  85  LightSwitch     0.825          1.396          4.082          0              180            0
  86  Fridge          -2.642         0.0            2.134          0              180            0
  87  Window          -1.131         1.673          0.808          90             0              0
  88  GarbageCan      0.931          -0.000         2.918          0              0              0
  89  SinkBasin       -1.601         0.686          3.774          0              0              0
  90  StoveKnob       1.104          1.002          1.886          0              0              70.346
  91  StoveKnob       1.104          1.002          1.733          0              0              70.346
  92  StoveKnob       1.104          1.002          1.321          0              0              70.346
  93  StoveKnob       1.104          1.002          1.481          0              0              70.346
  94  Toaster         -2.247         0.812          3.862          0              180            0
  95  DiningTable     -0.917         -0.000         1.203          0              0              0
  96  Stool           -0.932         0.000          1.404          1.196          21.715         0
  97  Faucet          -1.842         0.809          3.984          0              180            0
  98  Faucet          -1.371         0.809          3.985          0              180            0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn around, walk to wall, turn left facing the table | STEP 2: Pick up apple off of table | STEP 3: Turn left, walk forward to sink | STEP 4: Put apple in microwave and turn on,  open microwave, remove apple | STEP 5: Turn around, walk back to table | STEP 6: Put apple on table top | END