Task: warm the apple from the table then put it back 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           -1.0           0.900          -2.75          0              90             0
   1  Pen             -2.096         0.926          -2.345         0              0              0              70
   2  Pen             -2.666         0.926          -1.654         0              0              0              70
   3  Potato          -0.447         0.828          -2.008         0              270            0              63
   4  DishSponge      -2.210         0.923          -1.654         0              0              0              70
   5  Pot             -1.515         0.935          -3.497         0              0              0              42
   6  Fork            -2.096         0.924          -2.115         0              0              0              70
   7  Plate           -2.780         0.925          -1.423         0              0              0              70
   8  Cup             -0.436         0.914          -2.764         0              0              0              45
   9  SoapBottle      -1.912         0.025          -3.799         0              0              0              61
  10  Bread           -0.392         1.443          -0.769         0              270            0              62
  11  Bread           -2.666         0.976          -2.345         0              0              0              70
  12  Mug             -0.254         0.792          -2.082         0              90             0              63
  13  Apple           -0.343         1.172          -0.665         0              270            0              62
  14  Apple           -0.268         1.764          -0.770         0              270            0              62
  15  Apple           -2.324         0.996          -1.423         0              0              0              70
  16  Lettuce         -2.562         1.002          -1.677         36.385         0              0              70
  17  Glassbottle     -0.685         0.083          -3.545         0              0              0              49
  18  Egg             -0.398         0.830          -2.229         0              270            0              63
  19  Pen             -2.096         0.926          -1.654         0              0              0              70
  20  Fork            -2.210         0.924          -1.423         0              0              0              70
  21  SoapBottle      -0.460         0.079          -2.201         0              0              0              50
  22  Pencil          -2.324         0.923          -0.963         0              0              0              70
  23  WineBottle      -2.666         0.924          -1.884         0              0              0              70
  24  Spatula         -2.210         0.938          -1.654         0              0              0              70
  25  Bread           -0.414         0.952          -3.625         0              0              0              45
  26  Tomato          -0.441         1.162          -0.874         0              270            0              62
  27  Pan             -2.174         0.913          -1.099         0              0              0              70
  28  Cup             -0.343         1.097          -1.084         0              270            0              62
  29  Pot             -1.129         0.935          -3.498         0              0              0              43
  30  SaltShaker      -0.222         0.912          -2.563         0              0              0              45
  31  Potato          -2.666         0.954          -2.115         0              0              0              70
  32  PepperShaker    -0.391         0.743          -3.327         0              0              0              56
  33  ButterKnife     -2.438         0.923          -1.884         0              0              0              70
  34  DishSponge      -0.293         0.915          -3.368         0              0              0              45
  35  Spoon           -2.096         0.924          -1.884         0              90             0              70
  36  Plate           -0.671         0.918          -3.555         0              0              0              45
  37  Knife           -2.552         0.946          -2.115         0              90             0              70
  38  Mug             -0.138         1.522          -3.125         0              0              0              57
  39  Bowl            -0.329         1.529          -3.672         0              45             0              53
  40  Cabinet         -0.582         0.388          -1.804         0              0              0
  41  StoveBurner     -1.515         0.928          -3.752         0              90             0
  42  StoveBurner     -1.515         0.928          -3.497         0              0              0
  43  StoveBurner     -1.129         0.928          -3.498         0              0              0
  44  Drawer          -0.749         0.779          -3.551         0              0              0
  45  CounterTop      -0.303         0.951          -2.793         0              0              0
  46  Cabinet         -0.883         2.140          -3.687         0              0              0
  47  Cabinet         -0.312         2.140          -1.543         0              0              0
  48  Sink            -0.349         0.907          -2.014         0              0              0
  49  Cabinet         -0.877         0.388          -3.422         0              0              0
  50  Cabinet         -0.582         0.388          -2.197         0              0              0
  51  Cabinet         -0.584         0.388          -3.396         0              0              0
  52  Cabinet         -0.312         2.140          -2.481         0              0              0
  53  Cabinet         -0.330         1.921          -3.390         0              0              0
  54  Cabinet         -1.764         2.140          -3.687         0              0              0
  55  StoveBurner     -1.129         0.928          -3.752         0              90             0
  56  Drawer          -0.454         0.779          -3.268         0              0              0
  57  Cabinet         -0.302         1.916          -2.501         0              0              0
  58  Microwave       -1.317         1.517          -3.801         0              1.440          0
  59  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  60  LightSwitch     -4.323         1.319          0.0            0              180            0
  61  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  62  Fridge          -0.330         0.0            -0.769         0              270            0
  63  SinkBasin       -0.350         0.786          -2.018         0              270            0
  64  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  65  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  66  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  67  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  68  Toaster         -0.181         0.903          -2.764         0              270            0
  69  Window          -2.503         1.782          -4.185         90             180            0
  70  DiningTable     -2.432         0.000          -1.694         0              270            0
  71  Shelf           -2.432         0.150          -1.694         0              270            0
  72  Blinds          -2.536         2.699          -3.959         0              0              0
  73  Faucet          -0.079         0.904          -2.034         270            180            0
  74  Chair           -3.264         0.002          -2.094         0              53.280         0
  75  Chair           -3.240         0.002          -1.253         0              117.257        0
  76  Shelf           -2.432         0.523          -1.694         0              270            0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: go to the dining table | STEP 2: pick up the apple from the table | STEP 3: take the apple to the microwave above the stove | STEP 4: warm the apple in the microwave then remove | STEP 5: take the warmed apple to the table | STEP 6: put the apple on the table | END