Task: Get an apple from the sink and heat it up in the microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          0.75           0              180            0
   1  Pan             1.126          2.205          -1.517         0              180            0              62
   2  Potato          -0.96          0.207          0.641          0              180            0              75
   3  Potato          1.148          1.673          1.540          0              270            0              78
   4  ButterKnife     -0.550         0.933          -1.463         0              0              0              55
   5  Glassbottle     1.194          1.667          -2.097         0              270            0              54
   6  Glassbottle     -0.477         0.934          -0.143         0              0              0              55
   7  Fork            -0.550         0.934          -1.231         0              0              0              55
   8  Fork            -0.698         0.934          0.162          0              180            0              55
   9  Spoon           0.793          0.154          -0.611         0              270            0              58
  10  Spoon           0.859          0.912          -0.729         0              0              0              56
  11  Spatula         1.199          0.926          -0.381         0              0              0              56
  12  Egg             -0.808         0.814          -0.832         0              90             0              76
  13  Egg             -1.007         0.216          0.543          0              180            0              75
  14  Plate           -1.571         0.885          2.719          0              0              0              82
  15  SoapBottle      0.960          0.108          -1.812         0              0              0              60
  16  SoapBottle      -0.477         0.933          0.315          0              0              0              55
  17  SaltShaker      0.754          0.490          -0.565         0              270            0              59
  18  PepperShaker    0.688          0.907          -1.793         0              0              0              61
  19  Bread           1.029          0.992          -0.034         0              0              0              56
  20  Apple           -0.865         0.229          0.575          0              180            0              75
  21  Statue          -1.167         0.936          -0.380         0              0              0              55
  22  Glassbottle     -1.467         0.554          2.822          0              0              0              81
  23  Bread           -1.292         1.014          -0.118         0              0              0              55
  24  CreditCard      -1.467         0.551          2.718          0              0              0              81
  25  CellPhone       0.773          0.908          -0.208         0              0              0              56
  26  Potato          -0.808         0.811          -0.573         0              90             0              76
  27  Knife           0.859          0.934          -0.034         0              90             0              56
  28  Fork            -0.753         0.781          -0.918         0              180            0              76
  29  Pan             0.848          0.946          -1.080         0              0              0              49
  30  Lettuce         0.867          1.688          1.209          9.750          11.009         358.514        78
  31  Plate           0.844          0.866          1.063          0              270            0              78
  32  Apple           -0.587         0.830          -0.659         0              90             0              76
  33  Pot             1.077          0.950          -1.504         0              0              0              51
  34  Spatula         -0.808         0.791          -0.745         0              180            0              76
  35  PaperTowelRoll  0.688          1.015          0.313          0              0              0              56
  36  Tomato          -0.920         0.974          -1.540         0              0              0              55
  37  Egg             -0.642         0.814          -0.573         0              90             0              76
  38  SaltShaker      0.811          0.104          -2.132         0              0              0              60
  39  PepperShaker    1.148          1.662          -0.337         0              270            0              64
  40  Vase            -1.423         0.169          2.621          0              0              0              81
  41  ButterKnife     -0.624         0.933          0.009          0              0              0              55
  42  SoapBottle      -0.772         0.933          0.239          0              0              0              55
  43  Vase            1.194          1.667          -0.593         0              270            0              64
  44  Bowl            1.026          1.138          1.158          0              270            0              78
  45  DishSponge      0.915          0.493          -0.690         0              270            0              59
  46  Spoon           -1.104         0.934          -0.905         0              0              0              55
  47  Cup             -1.363         0.551          2.718          0              0              0              81
  48  Mug             1.114          0.906          -1.793         0              0              0              61
  49  StoveBurner     0.842          0.919          -1.098         0              0              0
  50  Cabinet         0.648          0.474          0.244          0              270            0
  51  StoveBurner     1.077          0.919          -1.504         0              0              0
  52  StoveBurner     0.842          0.919          -1.504         0              0              0
  53  Drawer          0.637          0.755          -0.649         0              270            0
  54  Cabinet         0.949          2.159          -2.375         0              270            0
  55  CounterTop      -1.238         0.968          -0.643         0              0              0
  56  CounterTop      0.931          0.946          -0.208         0              0              0
  57  StoveBurner     1.077          0.919          -1.098         0              0              0
  58  Drawer          0.637          0.268          -0.649         0              270            0
  59  Drawer          0.637          0.547          -0.649         0              270            0
  60  Cabinet         0.648          0.475          -1.714         0              0              0
  61  CounterTop      0.931          0.946          -2.051         0              0              0
  62  Cabinet         0.948          2.439          -1.780         0              270            0
  63  Cabinet         0.948          2.159          -0.140         0              270            0
  64  Cabinet         0.949          2.159          -0.758         0              270            0
  65  Sink            -0.699         0.927          -0.649         0              0              0
  66  LightSwitch     -2.371         1.218          3.049          0              180            0
  67  StoveKnob       0.673          0.899          -1.373         315            90             180
  68  StoveKnob       0.673          0.899          -1.519         315            90             180
  69  StoveKnob       0.673          0.899          -1.086         315            90             180
  70  StoveKnob       0.673          0.899          -1.237         315            90             180
  71  Toaster         0.984          0.900          0.329          0              270            0
  72  Window          0.014          0.998          -2.640         90             0              0
  73  Window          -2.996         0.998          -2.640         90             0              0
  74  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  75  GarbageCan      -0.946         -0.036         0.575          0              180            0
  76  SinkBasin       -0.698         0.765          -0.647         0              90             0
  77  Microwave       1.042          1.680          -1.295         0              270            0
  78  Fridge          0.966          0.0            1.253          0              0              0
  79  HousePlant      -1.354         0.919          -1.540         0              0              0
  80  Shelf           -1.635         0.172          2.715          0              180            0
  81  Shelf           -1.635         0.552          2.715          0              180            0
  82  Shelf           -1.635         0.880          2.715          0              180            0
  83  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  84  Chair           -1.832         0.002          -0.034         0              119.999        0
  85  Chair           -1.854         0.002          -0.956         0              67.887         0
  86  Faucet          -0.867         1.161          -0.651         0              0              0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn toward the fridge and turn right and go towards the kitchen sink | STEP 2: Pick up the green apple out of the sink | STEP 3: Turn around and walk towards the microwave with the apple and open the microwave door | STEP 4: Put the apple in the  microwave and close the door and turn it on for a few seconds, then open the door and take the apple out | STEP 5: Turn around and walk back to the sink | STEP 6: Put the apple in the sink. | END