Task: heat the apple with microwave, put 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           -1.25          0.901          -0.25          0              0              0
   1  Pan             -0.650         0.912          -3.952         0              90             0              44
   2  DishSponge      -0.441         0.746          -0.609         0              0              0              70
   3  ButterKnife     -2.708         0.713          -0.741         0              135            0              88
   4  Pot             -0.244         0.916          -3.012         0              0              0              44
   5  Spatula         -0.257         0.930          -0.490         0              0              0              71
   6  Spatula         -1.845         0.805          -3.661         0              270            0              86
   7  Spoon           -3.346         0.914          -3.952         0              0              0              44
   8  Egg             -3.027         0.677          -1.817         0              90             0              85
   9  Cup             -0.102         1.868          -1.997         0              0              0              62
  10  Cup             -3.027         1.399          -2.187         0              90             0              85
  11  Plate           -2.740         0.711          -0.922         0              0              0              88
  12  Knife           -3.225         0.946          -3.327         0              0              0              44
  13  Tomato          -3.027         1.448          -2.002         0              90             0              85
  14  SoapBottle      -3.363         1.291          -2.881         0              0              0              56
  15  SoapBottle      -2.270         0.913          -4.026         0              0              0              44
  16  Bowl            -0.452         0.078          -1.414         0              0              0              49
  17  Bowl            -3.346         0.911          -3.729         0              0              0              44
  18  SaltShaker      -0.014         0.912          -1.432         0              0              0              71
  19  Lettuce         -0.419         1.003          -1.493         0              0              0              71
  20  Bread           -2.721         0.757          -0.552         0              135            0              88
  21  Apple           -3.014         0.929          -2.501         0              90             0              85
  22  Apple           -0.095         0.958          -1.370         0              0              0              71
  23  Pot             -0.165         0.975          -2.030         0              180            0              75
  24  Egg             -2.975         1.049          -1.879         0              90             0              85
  25  Cup             -2.732         1.295          -3.966         0              0              0              44
  26  Bread           -0.327         0.948          -3.681         0              298.222        0              44
  27  Fork            -1.638         0.791          -3.790         0              90             0              86
  28  Pan             -0.394         0.973          -2.414         0              0              0              69
  29  Potato          -0.158         1.056          -0.950         0              270            0              81
  30  Lettuce         -1.323         0.988          -3.758         1.039          253.596        356.130        44
  31  Tomato          -3.079         0.690          -2.125         0              90             0              85
  32  Apple           -3.234         0.683          -1.879         0              90             0              85
  33  SoapBottle      -2.449         0.913          -4.026         0              0              0              44
  34  Spatula         -0.176         0.930          -1.370         0              270            0              71
  35  SaltShaker      -0.500         0.742          -2.968         0              0              0              74
  36  Knife           -0.441         0.779          -1.563         0              90             0              67
  37  PepperShaker    -3.079         0.710          -0.886         0              225            0              88
  38  ButterKnife     -0.257         0.916          -1.555         0              0              0              71
  39  Plate           -3.111         0.711          -0.652         0              225            0              88
  40  DishSponge      -0.441         0.745          -0.761         0              0              0              70
  41  Spoon           -3.255         0.718          -0.282         0              225            0              88
  42  Mug             -2.930         0.762          -0.358         0              135            0              84
  43  Bowl            -1.960         0.079          -3.713         0              0              0              65
  44  CounterTop      -1.789         0.949          -3.803         0              0              0
  45  Cabinet         -0.577         0.388          -3.476         0              0              0
  46  Cabinet         -0.605         0.388          -3.511         0              0              0
  47  Cabinet         -2.976         0.388          -3.201         0              0              0
  48  Cabinet         -0.577         0.388          -0.447         0              0              0
  49  Cabinet         -0.577         0.388          -1.725         0              0              0
  50  Cabinet         -0.226         1.803          -1.743         0              0              0
  51  Cabinet         -0.228         1.799          -0.447         0              0              0
  52  Cabinet         -6.010         1.139          -6.019         0              0              0
  53  Cabinet         -3.022         2.098          -2.681         0              0              0
  54  Cabinet         -3.022         2.098          -1.743         0              0              0
  55  Cabinet         -0.577         0.388          -2.736         0              0              0
  56  Cabinet         -3.232         1.803          -3.343         0              0              0
  57  Cabinet         -2.811         1.810          -3.764         0              0              0
  58  Cabinet         -1.233         1.810          -3.764         0              0              0
  59  Cabinet         -1.364         0.388          -3.511         0              0              0
  60  Cabinet         -1.380         0.388          -3.511         0              0              0
  61  Cabinet         -0.226         1.803          -2.725         0              0              0
  62  Cabinet         -0.236         2.098          -1.767         0              0              0
  63  Cabinet         -0.236         2.098          -2.705         0              0              0
  64  Cabinet         -0.193         1.210          -4.239         0              0              0
  65  Cabinet         -2.148         0.388          -3.511         0              0              0
  66  Drawer          -3.104         0.797          -2.968         0              0              0
  67  Drawer          -0.449         0.797          -1.410         0              0              0
  68  Sink            -1.786         0.902          -3.748         0              0              0
  69  StoveBurner     -0.376         0.936          -2.451         0              0              0
  70  Drawer          -0.449         0.797          -0.762         0              0              0
  71  CounterTop      -0.268         0.951          -1.089         0              0              0
  72  Drawer          -0.449         0.797          -3.348         0              0              0
  73  StoveBurner     -0.376         0.936          -2.031         0              180            0
  74  Drawer          -0.449         0.797          -2.968         0              0              0
  75  StoveBurner     -0.165         0.936          -2.030         0              180            0
  76  StoveBurner     -0.165         0.936          -2.450         0              0              0
  77  StoveKnob       -0.568         0.903          -2.313         45             270            0
  78  StoveKnob       -0.568         0.903          -2.470         45             270            0
  79  StoveKnob       -0.568         0.903          -2.166         45             270            0
  80  StoveKnob       -0.568         0.903          -2.003         45             270            0
  81  Microwave       -0.143         0.903          -0.908         0              270            0
  82  LightSwitch     -1.108         1.457          0.338          0              180            0
  83  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  84  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  85  Fridge          -3.188         0.0            -2.184         0              0              0
  86  SinkBasin       -1.786         0.779          -3.747         0              0              0
  87  Toaster         -0.230         0.903          -3.406         0              270            0
  88  DiningTable     -2.800         0.003          -0.505         0              0              0
  89  Chair           -3.044         0.003          -1.223         0              32.194         0
  90  Faucet          -1.791         1.136          -3.913         0              270            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn around, walk to the microwave | STEP 2: Grab the apple by the microwave | STEP 3: Walk to the left a little | STEP 4: Open the microwave, put the apple in, turn on the microwave, close the microwave, take the apple | STEP 5: Turn around, walk to the dining table, turn left, walk to the sink | STEP 6: Put the apple in the sink | END