Task: heat the apple with the microwave, put the apple on the 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           0.901          3.0            0              0              0
   1  Potato          -0.657         0.926          2.530          0              0              0              82
   2  ButterKnife     -1.094         0.795          0.337          0              0              0              77
   3  Spoon           -0.228         0.901          3.133          0              0              0              82
   4  Spoon           -2.628         0.936          3.766          0              0              0              66
   5  Fork            -0.164         0.662          0.519          0              270            0              48
   6  Fork            -0.487         0.662          0.300          0              90             0              48
   7  Egg             -0.138         1.056          0.267          0              0              0              78
   8  Cup             -2.805         1.186          4.352          0              90             0              76
   9  Cup             -2.549         0.935          3.580          0              0              0              66
  10  Plate           -0.400         0.904          2.530          0              0              0              82
  11  Plate           -1.746         1.777          0.251          0              0              0              54
  12  Knife           -2.583         0.926          2.177          0              0              0              80
  13  SoapBottle      -0.228         0.900          2.731          0              0              0              82
  14  Tomato          -2.686         0.964          2.573          0              0              0              80
  15  Tomato          -2.785         0.362          4.204          0              90             0              76
  16  Bowl            -0.350         1.015          0.203          0              0              0              78
  17  Bowl            -2.892         0.897          2.309          0              0              0              80
  18  PepperShaker    -2.995         0.896          2.177          0              0              0              80
  19  PepperShaker    -2.706         0.931          3.302          0              0              0              66
  20  Lettuce         -0.657         0.980          3.334          0              0              0              82
  21  Lettuce         -0.228         0.980          2.329          0              0              0              82
  22  Mug             -2.847         0.627          4.204          0              90             0              76
  23  Mug             -2.549         0.930          3.302          0              180            0              66
  24  Apple           -2.583         0.956          2.441          0              0              0              80
  25  Apple           -2.764         0.688          4.352          0              90             0              76
  26  Apple           -2.686         0.956          2.309          0              0              0              80
  27  Egg             -0.138         1.051          0.108          0              0              0              78
  28  Plate           -2.246         1.777          0.160          0              0              0              55
  29  Fork            -2.789         0.901          2.573          0              0              0              80
  30  Bread           -2.864         0.940          1.983          0              0              0              80
  31  Apple           -1.007         0.852          0.337          0              0              0              77
  32  Lettuce         -2.831         0.378          4.427          0              90             0              76
  33  Spatula         -1.770         0.677          0.300          0              90             0              62
  34  Knife           -0.272         0.688          0.464          0              270            0              48
  35  Potato          -1.180         0.822          0.447          0              0              0              77
  36  Tomato          -2.037         0.992          0.602          0              0              0              59
  37  Cup             -1.180         0.795          0.281          0              0              0              77
  38  SaltShaker      -0.380         0.658          0.464          0              0              0              48
  39  PepperShaker    -2.269         0.658          0.300          0              0              0              67
  40  ButterKnife     -2.377         0.662          0.355          0              0              0              67
  41  SoapBottle      -0.657         0.900          2.329          0              0              0              82
  42  Pan             -0.250         0.926          4.651          0              0              0              61
  43  DishSponge      -0.486         0.900          3.334          0              0              0              82
  44  Pot             -0.535         0.928          4.274          0              0              0              63
  45  Spoon           -0.314         0.901          2.932          0              0              0              82
  46  Mug             -0.582         1.768          0.114          0              0              0              57
  47  Bowl            -0.194         1.770          0.114          0              0              0              58
  48  Drawer          -0.325         0.696          0.413          0              0              0
  49  Cabinet         -0.595         0.490          0.648          0              0              0
  50  Cabinet         -0.555         0.490          0.646          0              0              0
  51  Cabinet         -1.591         0.490          0.646          0              0              0
  52  Cabinet         -1.554         0.490          0.646          0              0              0
  53  Cabinet         -2.550         0.490          0.646          0              0              0
  54  Cabinet         -1.514         2.046          0.392          0              0              0
  55  Cabinet         -2.474         2.046          0.392          0              0              0
  56  Cabinet         -1.478         2.046          0.392          0              0              0
  57  Cabinet         -0.518         2.046          0.392          0              0              0
  58  Cabinet         -0.479         2.046          0.392          0              0              0
  59  CounterTop      -1.366         0.952          0.349          0              0              0
  60  Sink            -1.108         0.926          0.340          0              0              0
  61  StoveBurner     -0.254         0.922          4.672          0              0              0
  62  Drawer          -1.824         0.696          0.413          0              0              0
  63  StoveBurner     -0.535         0.922          4.274          0              0              0
  64  StoveBurner     -0.254         0.922          4.274          0              0              0
  65  StoveBurner     -0.536         0.922          4.672          0              0              0
  66  CounterTop      -2.780         0.971          3.487          0              0              0
  67  Drawer          -2.323         0.696          0.413          0              0              0
  68  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  69  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  70  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  71  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  72  Toaster         -0.286         0.861          3.520          0              270            0
  73  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  74  LightSwitch     -0.064         1.447          1.996          0              270            0
  75  Window          -3.075         1.593          1.361          90             90             0
  76  Fridge          -2.802         0.0            4.427          0              0              0
  77  SinkBasin       -1.106         0.785          0.337          0              0              0
  78  Microwave       -0.358         0.917          0.224          0              0              0
  79  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  80  DiningTable     -2.733         -0.003         2.607          0              270            0
  81  Faucet          -1.077         0.920          0.028          270            270            0
  82  DiningTable     -0.488         -0.003         3.182          0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: turn around, walk to the white table on the right | STEP 2: grab the apple on the table | STEP 3: turn around, walk to the sink on the right | STEP 4: open the microwave by the sink, put the apple in, heat it, take the apple out | STEP 5: turn around, walk to the white table by the refrigerator | STEP 6: put the apple on the table | END