Task: Pick up apple, put in microwave, remove, and put on counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          0.0            0              90             0
   1  Pan             0.678          0.964          1.345          0              0              0              79
   2  Potato          1.902          0.946          -0.345         0              0              0              41
   3  Potato          -0.734         0.855          -1.255         0              0              0              100
   4  ButterKnife     -0.911         0.820          -1.257         0              90             0              100
   5  Spoon           -0.103         0.912          1.214          0              0              0              52
   6  Spoon           1.524          0.773          1.198          0              0              0              59
   7  Cup             1.688          0.909          1.214          0              0              0              76
   8  SoapBottle      -1.962         0.429          1.375          0              270            0              94
   9  Tomato          -0.621         0.852          -1.206         0              90             0              100
  10  Bowl            1.155          0.909          1.383          0              0              0              76
  11  Bowl            0.654          2.151          1.506          0              0              0              50
  12  SaltShaker      2.488          0.908          1.214          0              0              0              76
  13  SaltShaker      -0.055         0.908          1.129          0              0              0              52
  14  Bread           -0.246         0.969          1.129          0              0              0              52
  15  Lettuce         2.838          1.644          -0.644         0              0              0              96
  16  Lettuce         -0.983         0.901          -1.360         0              90             0              100
  17  Mug             0.363          1.779          1.520          0              270            0              99
  18  SoapBottle      1.955          0.917          1.129          0              0              0              76
  19  Plate           0.888          0.914          -0.515         0              0              0              41
  20  Fork            2.156          0.912          -0.515         0              90             0              41
  21  Pot             0.281          0.964          1.082          0              0              0              47
  22  Bread           2.838          1.346          -0.644         0              0              0              96
  23  Egg             1.955          0.949          1.468          0              0              0              76
  24  Kettle          -0.087         0.766          -0.651         0              0              0              98
  25  Tomato          0.193          0.797          -0.762         0              0              0              98
  26  Cup             1.649          0.909          -0.345         0              0              0              41
  27  Spatula         0.053          0.780          -0.707         0              90             0              98
  28  Apple           2.221          0.980          1.214          0              0              0              76
  29  Pan             1.524          1.654          1.470          0              0              0              68
  30  Lettuce         -0.198         0.992          1.383          0              0              0              52
  31  SaltShaker      0.065          1.651          -0.693         0              180            0              81
  32  Knife           1.422          0.944          1.299          0              0              0              76
  33  Potato          2.156          0.946          -0.684         0              0              0              41
  34  PepperShaker    2.272          0.111          -0.419         0              180            0              82
  35  ButterKnife     1.688          0.911          1.468          0              0              0              76
  36  Bowl            -0.734         0.818          -1.400         0              0              0              100
  37  DishSponge      2.837          0.114          1.231          0              0              0              73
  38  Spoon           1.276          0.773          -0.422         0              270            0              60
  39  Mug             2.591          1.014          -0.644         0              90             0              96
  40  Sink            0.050          0.902          -0.648         0              0              0
  41  CounterTop      1.358          0.947          -0.600         0              0              0
  42  Cabinet         2.986          2.009          1.304          0              0              0
  43  Cabinet         1.022          2.009          -0.607         0              180            0
  44  StoveBurner     0.678          0.923          1.082          0              0              0
  45  Cabinet         2.371          0.402          0.995          0              0              0
  46  Drawer          -0.125         0.792          0.995          0              0              0
  47  StoveBurner     0.281          0.923          1.082          0              0              0
  48  Cabinet         1.025          0.402          0.995          0              0              0
  49  Cabinet         1.023          0.402          -0.296         0              180            0
  50  Cabinet         0.974          2.259          1.304          0              0              0
  51  Cabinet         0.979          2.009          -0.607         0              180            0
  52  CounterTop      -0.158         0.947          1.299          0              0              0
  53  Cabinet         1.725          2.009          1.304          0              0              0
  54  Drawer          2.205          0.792          -0.294         0              180            0
  55  Drawer          1.869          0.792          -0.294         0              180            0
  56  StoveBurner     0.281          0.923          1.347          0              0              0
  57  Drawer          2.512          0.792          0.995          0              0              0
  58  Cabinet         1.673          0.402          -0.296         0              180            0
  59  Drawer          1.524          0.792          0.995          0              0              0
  60  Drawer          1.174          0.792          -0.294         0              180            0
  61  Cabinet         1.720          0.402          0.995          0              0              0
  62  Cabinet         2.348          2.009          -0.607         0              180            0
  63  Cabinet         1.676          2.009          -0.607         0              180            0
  64  Cabinet         1.673          2.009          1.304          0              0              0
  65  Cabinet         2.326          2.009          1.304          0              0              0
  66  Cabinet         2.370          2.009          1.304          0              0              0
  67  Cabinet         0.021          2.009          1.304          0              0              0
  68  Cabinet         1.025          2.009          1.304          0              0              0
  69  Cabinet         -0.274         0.402          0.995          0              0              0
  70  Cabinet         1.675          0.402          0.995          0              0              0
  71  Drawer          1.524          0.792          -0.294         0              180            0
  72  Drawer          2.187          0.792          0.995          0              0              0
  73  Cabinet         2.977          0.402          0.995          0              0              0
  74  Drawer          1.862          0.792          0.995          0              0              0
  75  Cabinet         0.072          2.259          1.304          0              0              0
  76  CounterTop      1.917          0.947          1.299          0              0              0
  77  Cabinet         2.328          0.402          0.995          0              0              0
  78  Cabinet         1.723          2.009          -0.607         0              180            0
  79  StoveBurner     0.677          0.923          1.345          0              0              0
  80  Cabinet         0.355          2.009          -0.607         0              180            0
  81  Cabinet         0.332          2.009          -0.607         0              180            0
  82  Cabinet         2.349          0.402          -0.296         0              180            0
  83  Cabinet         -0.284         2.009          -0.607         0              180            0
  84  Faucet          0.061          0.906          -0.903         0              0              0
  85  Drawer          2.837          0.792          0.995          0              0              0
  86  Drawer          1.175          0.792          0.995          0              0              0
  87  Cabinet         1.723          0.402          -0.296         0              180            0
  88  StoveKnob       0.588          1.093          1.557          287.970        0              0
  89  StoveKnob       0.188          1.093          1.557          287.970        0              0
  90  StoveKnob       0.749          1.093          1.557          287.970        0              0
  91  StoveKnob       0.338          1.093          1.557          287.970        0              0
  92  Toaster         1.934          0.900          -0.717         0              0              0
  93  LightSwitch     -1.662         1.427          1.649          0              180            0
  94  GarbageCan      -1.965         -0.029         1.358          0              270            0
  95  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  96  Fridge          3.043          0.0            -0.709         0              0              0
  97  Window          -2.183         1.501          -0.014         90             270            0
  98  SinkBasin       0.043          0.755          -0.651         0              0              0
  99  Microwave       0.531          1.675          1.437          0              180            0
 100  DiningTable     -0.836         8.404          -1.258         0              0              0
 101  Chair           -1.611         0.002          -1.185         0              45             0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Walk forward, turn left at oven, turn right, walk forward, turn left at end of counter | STEP 2: Pick up apple off of counter | STEP 3: Turn left, walk to stove, turn right facing the oven | STEP 4: Put apple in microwave above oven, close microwave, turn on, turn off, remove from microwave | STEP 5: Turn right, walk to end of counter, turn right, | STEP 6: Put apple on counter in front of coffee maker | END