Task: heat the apple, put the apple 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           -1.5           0.901          -3.0           0              90             0
   1  Pan             -0.376         0.975          -2.031         0              180            0              69
   2  Potato          -2.678         0.757          -0.069         0              0              0              84
   3  DishSponge      -0.471         0.745          -1.408         0              0              0              63
   4  Spatula         -2.987         0.928          -3.729         0              0              0              40
   5  Spatula         -0.412         0.928          -2.911         0              270            0              40
   6  Spoon           -0.095         0.917          -0.472         0              0              0              67
   7  Egg             -2.678         0.752          -0.922         0              0              0              84
   8  Egg             -2.928         0.752          -0.069         0              0              0              84
   9  Tomato          -0.014         0.965          -1.493         0              0              0              67
  10  Tomato          -3.079         0.690          -2.064         0              90             0              81
  11  SoapBottle      -2.732         1.295          -3.966         0              0              0              53
  12  Bowl            -2.928         0.711          -0.780         0              0              0              84
  13  Bowl            -2.439         0.714          -0.558         0              270            0              84
  14  Lettuce         -2.721         0.804          -0.552         0              135            0              84
  15  Mug             -3.286         0.636          -2.064         0              90             0              81
  16  Mug             -0.189         1.007          -0.900         0              270            0              77
  17  Apple           -3.014         0.929          -2.440         0              90             0              81
  18  Apple           -0.176         0.958          -1.677         0              0              0              67
  19  Pot             -2.836         0.903          -3.745         0              92.628         0              40
  20  Egg             -3.182         0.677          -1.879         0              90             0              81
  21  Cup             -3.079         1.399          -1.941         0              90             0              81
  22  Bread           -0.327         0.948          -3.681         0              298.222        0              40
  23  Fork            -0.257         0.916          -1.370         0              0              0              67
  24  Pan             -3.140         0.912          -2.926         0              90             0              40
  25  Potato          -2.708         0.760          -0.741         0              135            0              84
  26  Lettuce         -3.292         0.804          -0.433         0              0              0              84
  27  Tomato          -3.167         0.963          -3.878         0              0              0              40
  28  Apple           -3.286         1.056          -1.879         0              90             0              81
  29  SoapBottle      -2.581         0.716          -0.683         0              270            0              84
  30  Spatula         -0.160         0.928          -3.012         0              90             0              40
  31  SaltShaker      -0.419         0.912          -1.677         0              0              0              67
  32  Knife           -3.140         0.946          -3.327         0              0              0              40
  33  PepperShaker    -3.300         0.710          -0.665         0              225            0              84
  34  ButterKnife     -0.419         0.916          -1.493         0              90             0              67
  35  Plate           -3.130         1.011          -1.879         0              90             0              81
  36  DishSponge      -2.865         0.713          -0.638         0              0              0              84
  37  Spoon           -2.576         0.718          -0.383         0              225            0              84
  38  Mug             -0.335         0.075          -1.414         0              0              0              45
  39  Bowl            -1.214         0.077          -3.712         0              0              0              55
  40  CounterTop      -1.789         0.949          -3.803         0              0              0
  41  Cabinet         -0.577         0.388          -3.476         0              0              0
  42  Cabinet         -0.605         0.388          -3.511         0              0              0
  43  Cabinet         -2.976         0.388          -3.201         0              0              0
  44  Cabinet         -0.577         0.388          -0.447         0              0              0
  45  Cabinet         -0.577         0.388          -1.725         0              0              0
  46  Cabinet         -0.226         1.803          -1.743         0              0              0
  47  Cabinet         -0.228         1.799          -0.447         0              0              0
  48  Cabinet         -6.010         1.139          -6.019         0              0              0
  49  Cabinet         -3.022         2.098          -2.681         0              0              0
  50  Cabinet         -3.022         2.098          -1.743         0              0              0
  51  Cabinet         -0.577         0.388          -2.736         0              0              0
  52  Cabinet         -3.232         1.803          -3.343         0              0              0
  53  Cabinet         -2.811         1.810          -3.764         0              0              0
  54  Cabinet         -1.233         1.810          -3.764         0              0              0
  55  Cabinet         -1.364         0.388          -3.511         0              0              0
  56  Cabinet         -1.380         0.388          -3.511         0              0              0
  57  Cabinet         -0.226         1.803          -2.725         0              0              0
  58  Cabinet         -0.236         2.098          -1.767         0              0              0
  59  Cabinet         -0.236         2.098          -2.705         0              0              0
  60  Cabinet         -0.193         1.210          -4.239         0              0              0
  61  Cabinet         -2.148         0.388          -3.511         0              0              0
  62  Drawer          -3.104         0.797          -2.968         0              0              0
  63  Drawer          -0.449         0.797          -1.410         0              0              0
  64  Sink            -1.786         0.902          -3.748         0              0              0
  65  StoveBurner     -0.376         0.936          -2.451         0              0              0
  66  Drawer          -0.449         0.797          -0.762         0              0              0
  67  CounterTop      -0.268         0.951          -1.089         0              0              0
  68  Drawer          -0.449         0.797          -3.348         0              0              0
  69  StoveBurner     -0.376         0.936          -2.031         0              180            0
  70  Drawer          -0.449         0.797          -2.968         0              0              0
  71  StoveBurner     -0.165         0.936          -2.030         0              180            0
  72  StoveBurner     -0.165         0.936          -2.450         0              0              0
  73  StoveKnob       -0.568         0.903          -2.313         45             270            0
  74  StoveKnob       -0.568         0.903          -2.470         45             270            0
  75  StoveKnob       -0.568         0.903          -2.166         45             270            0
  76  StoveKnob       -0.568         0.903          -2.003         45             270            0
  77  Microwave       -0.143         0.903          -0.908         0              270            0
  78  LightSwitch     -1.108         1.457          0.338          0              180            0
  79  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  80  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  81  Fridge          -3.188         0.0            -2.184         0              0              0
  82  SinkBasin       -1.786         0.779          -3.747         0              0              0
  83  Toaster         -0.230         0.903          -3.406         0              270            0
  84  DiningTable     -2.800         0.003          -0.505         0              0              0
  85  Chair           -3.044         0.003          -1.223         0              32.194         0
  86  Faucet          -1.791         1.136          -3.913         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: turn left, walk to the stove | STEP 2: take the apple by the stove | STEP 3: turn left ,walk to the microwave | STEP 4: open the microwave, heat the apple with the microwave, take the apple out | STEP 5: turn right, walk to the sink, | STEP 6: put the apple in the sink | END