Task: place microwaved apple in front of coffee maker

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.25           0              270            0
   1  Pan             1.155          0.911          1.468          0              0              0              80
   2  DishSponge      1.909          0.114          -0.383         0              180            0              91
   3  ButterKnife     2.156          0.911          -0.430         0              0              0              45
   4  ButterKnife     -0.198         0.911          1.044          0              0              0              56
   5  Pot             0.281          0.964          1.347          0              0              0              60
   6  Pot             1.141          0.915          -0.769         0              0              0              45
   7  Spatula         1.422          0.926          1.214          0              0              0              80
   8  Spatula         1.422          0.926          1.553          0              270            0              80
   9  Plate           0.812          2.156          1.468          0              0              0              54
  10  Cup             2.838          0.724          -0.535         0              0              0              100
  11  Cup             0.123          0.763          -0.596         0              0              0              102
  12  Egg             -1.056         0.858          -1.411         0              90             0              104
  13  Egg             0.570          1.822          1.391          0              180            0              103
  14  Knife           2.754          0.944          1.468          0              0              0              80
  15  Knife           -0.621         0.853          -1.257         0              90             0              104
  16  SoapBottle      -2.019         0.429          1.290          0              270            0              98
  17  Tomato          -0.694         0.852          -1.411         0              90             0              104
  18  Bowl            2.562          1.653          1.507          0              0              0              70
  19  Bread           0.634          0.969          -0.515         0              0              0              45
  20  Mug             1.908          1.649          -0.849         0              180            0              82
  21  Apple           0.193          0.834          -0.762         0              0              0              102
  22  SoapBottle      2.754          0.917          1.129          0              0              0              80
  23  Plate           1.955          0.914          1.214          0              0              0              80
  24  Fork            1.902          0.772          -0.498         0              90             0              59
  25  Pot             0.281          0.964          1.082          0              0              0              51
  26  Bread           2.221          0.969          1.468          0              0              0              80
  27  Egg             -1.933         0.461          1.459          0              270            0              98
  28  Kettle          -0.087         0.766          -0.596         0              90             0              102
  29  Tomato          2.777          1.050          -0.775         0              0              0              100
  30  Cup             -0.694         0.818          -1.206         0              90             0              104
  31  Spatula         0.888          0.926          -0.684         0              90             0              45
  32  Apple           2.838          1.632          -0.709         0              0              0              100
  33  Pan             0.637          0.960          1.090          0              0              0              48
  34  Lettuce         2.754          0.992          1.299          0              270            0              80
  35  SaltShaker      1.931          0.111          1.276          0              0              0              65
  36  Knife           2.488          0.944          1.383          0              0              0              80
  37  Potato          2.962          0.761          -0.504         0              0              0              100
  38  PepperShaker    -0.983         0.817          -1.308         0              90             0              104
  39  ButterKnife     -0.198         0.911          1.383          0              0              0              56
  40  Bowl            1.827          0.112          1.156          0              0              0              65
  41  DishSponge      -0.103         0.911          1.214          0              0              0              56
  42  Spoon           -1.056         0.822          -1.308         0              90             0              104
  43  Mug             0.570          1.779          1.520          0              270            0              103
  44  Sink            0.050          0.902          -0.648         0              0              0
  45  CounterTop      1.358          0.947          -0.600         0              0              0
  46  Cabinet         2.986          2.009          1.304          0              0              0
  47  Cabinet         1.022          2.009          -0.607         0              180            0
  48  StoveBurner     0.678          0.923          1.082          0              0              0
  49  Cabinet         2.371          0.402          0.995          0              0              0
  50  Drawer          -0.125         0.792          0.995          0              0              0
  51  StoveBurner     0.281          0.923          1.082          0              0              0
  52  Cabinet         1.025          0.402          0.995          0              0              0
  53  Cabinet         1.023          0.402          -0.296         0              180            0
  54  Cabinet         0.974          2.259          1.304          0              0              0
  55  Cabinet         0.979          2.009          -0.607         0              180            0
  56  CounterTop      -0.158         0.947          1.299          0              0              0
  57  Cabinet         1.725          2.009          1.304          0              0              0
  58  Drawer          2.205          0.792          -0.294         0              180            0
  59  Drawer          1.869          0.792          -0.294         0              180            0
  60  StoveBurner     0.281          0.923          1.347          0              0              0
  61  Drawer          2.512          0.792          0.995          0              0              0
  62  Cabinet         1.673          0.402          -0.296         0              180            0
  63  Drawer          1.524          0.792          0.995          0              0              0
  64  Drawer          1.174          0.792          -0.294         0              180            0
  65  Cabinet         1.720          0.402          0.995          0              0              0
  66  Cabinet         2.348          2.009          -0.607         0              180            0
  67  Cabinet         1.676          2.009          -0.607         0              180            0
  68  Cabinet         1.673          2.009          1.304          0              0              0
  69  Cabinet         2.326          2.009          1.304          0              0              0
  70  Cabinet         2.370          2.009          1.304          0              0              0
  71  Cabinet         0.021          2.009          1.304          0              0              0
  72  Cabinet         1.025          2.009          1.304          0              0              0
  73  Cabinet         -0.274         0.402          0.995          0              0              0
  74  Cabinet         1.675          0.402          0.995          0              0              0
  75  Drawer          1.524          0.792          -0.294         0              180            0
  76  Drawer          2.187          0.792          0.995          0              0              0
  77  Cabinet         2.977          0.402          0.995          0              0              0
  78  Drawer          1.862          0.792          0.995          0              0              0
  79  Cabinet         0.072          2.259          1.304          0              0              0
  80  CounterTop      1.917          0.947          1.299          0              0              0
  81  Cabinet         2.328          0.402          0.995          0              0              0
  82  Cabinet         1.723          2.009          -0.607         0              180            0
  83  StoveBurner     0.677          0.923          1.345          0              0              0
  84  Cabinet         0.355          2.009          -0.607         0              180            0
  85  Cabinet         0.332          2.009          -0.607         0              180            0
  86  Cabinet         2.349          0.402          -0.296         0              180            0
  87  Cabinet         -0.284         2.009          -0.607         0              180            0
  88  Faucet          0.061          0.906          -0.903         0              0              0
  89  Drawer          2.837          0.792          0.995          0              0              0
  90  Drawer          1.175          0.792          0.995          0              0              0
  91  Cabinet         1.723          0.402          -0.296         0              180            0
  92  StoveKnob       0.588          1.093          1.557          287.970        0              0
  93  StoveKnob       0.188          1.093          1.557          287.970        0              0
  94  StoveKnob       0.749          1.093          1.557          287.970        0              0
  95  StoveKnob       0.338          1.093          1.557          287.970        0              0
  96  Toaster         1.934          0.900          -0.717         0              0              0
  97  LightSwitch     -1.662         1.427          1.649          0              180            0
  98  GarbageCan      -1.965         -0.029         1.358          0              270            0
  99  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 100  Fridge          3.043          0.0            -0.709         0              0              0
 101  Window          -2.183         1.501          -0.014         90             270            0
 102  SinkBasin       0.043          0.755          -0.651         0              0              0
 103  Microwave       0.531          1.675          1.437          0              180            0
 104  DiningTable     -0.836         8.404          -1.258         0              0              0
 105  Chair           -1.611         0.002          -1.185         0              45             0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: turn left, face sink with apple to the left | STEP 2: pick up red apple from counter | STEP 3: turn around, go to microwave above stove | STEP 4: open microwave, put apple in microwave, microwave apple, open microwave, pick up apple, close microwave | STEP 5: turn around, go to counter with coffee maker to the left | STEP 6: place apple on counter in front of coffee maker | END