Task: place microwaved apple to the right of bread 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           2.25           0.930          1.25           0              90             0
   1  Potato          3.152          0.785          0.098          0              90             0              112
   2  Ladle           0.002          0.937          -1.533         0              45             0              88
   3  DishSponge      0.468          0.319          -1.475         0              0              0              73
   4  DishSponge      -0.868         0.517          -0.361         0              0              0              94
   5  Glassbottle     0.356          0.908          0.727          0              0              0              98
   6  Glassbottle     3.198          0.176          -0.828         0              0              0              79
   7  Kettle          3.173          1.465          -1.284         0              0              0              81
   8  Pot             -0.935         0.900          0.623          0              180            0              67
   9  Pot             -0.420         0.902          -0.920         0              135            0              62
  10  Spatula         3.152          0.762          0.032          0              0              0              112
  11  Spoon           -0.099         0.515          -1.234         0              315            0              70
  12  Fork            0.798          0.911          0.727          0              0              0              98
  13  Fork            -0.827         0.327          0.751          0              0              0              68
  14  Mug             -0.717         0.895          -0.494         0              0              0              67
  15  Mug             0.952          1.669          -1.480         0              0              0              82
  16  Apple           0.533          0.984          0.627          0              0              0              98
  17  Apple           1.008          1.147          -1.475         0              0              0              113
  18  Bread           3.277          0.979          -0.599         0              0              0              66
  19  SaltShaker      -0.917         1.254          -0.811         0              45             0              86
  20  SaltShaker      0.404          1.256          -1.776         0              0              0              83
  21  SoapBottle      -0.033         0.909          -1.291         0              45             0              88
  22  SoapBottle      0.454          1.268          -1.672         0              0              0              83
  23  Tomato          0.773          1.110          -1.448         0              0              0              113
  24  Egg             0.773          1.126          -1.559         0              0              0              113
  25  Egg             0.095          0.952          -1.625         0              45             0              88
  26  Plate           1.208          1.687          -1.619         0              0              0              58
  27  Plate           3.141          0.188          -0.404         0              0              0              78
  28  Plate           0.778          0.921          0.332          0              36.810         0              98
  29  Glassbottle     3.044          0.901          -0.897         0              0              0              66
  30  SoapBottle      3.235          0.110          1.653          0              225            0              108
  31  Potato          0.836          0.949          0.605          0              0              0              98
  32  Fork            -0.827         0.518          0.076          0              0              0              94
  33  Ladle           0.533          0.947          0.827          0              90             0              98
  34  Pot             -1.008         0.900          0.399          0              270            0              67
  35  Kettle          -0.419         0.902          -1.269         0              315            0              69
  36  Spatula         3.152          0.762          -0.100         0              0              0              112
  37  Knife           2.988          0.738          0.829          0              270            0              89
  38  Lettuce         1.086          0.951          -1.503         0              0              0              113
  39  Cup             0.151          0.898          -1.476         0              45             0              88
  40  SaltShaker      0.468          0.701          -1.393         0              0              0              75
  41  Egg             0.851          1.300          -1.503         0              0              0              113
  42  PepperShaker    0.952          1.671          -1.689         0              0              0              82
  43  ButterKnife     -0.868         0.130          0.751          0              0              0              97
  44  Apple           -0.090         0.974          -1.440         0              45             0              88
  45  Pan             0.341          0.873          -1.649         0              167.065        0              88
  46  Bread           -0.789         0.979          -0.047         0              0              0              67
  47  CellPhone       -0.054         0.511          -1.329         0              45             0              70
  48  DishSponge      0.376          0.705          -1.515         0              0              0              75
  49  Tomato          1.086          0.750          -1.354         0              0              0              113
  50  Spoon           -1.015         0.901          -0.719         0              45             0              67
  51  Bowl            3.140          0.174          0.700          0              0              0              76
  52  Mug             3.122          0.895          -0.599         0              0              0              66
  53  Drawer          0.376          0.572          -1.509         0              0              0
  54  Drawer          3.020          0.769          -0.783         0              180            0
  55  Drawer          -0.860         0.577          1.429          0              0              0
  56  StoveBurner     -0.600         0.897          -1.090         0              135            0
  57  Drawer          0.376          0.191          -1.509         0              0              0
  58  Cabinet         1.402          1.874          -1.259         0              0              0
  59  Cabinet         -0.202         1.963          -1.328         0              0              0
  60  Drawer          -0.860         0.765          1.429          0              0              0
  61  Drawer          -0.677         0.765          -0.700         0              0              0
  62  StoveBurner     -0.420         0.897          -0.920         0              135            0
  63  Drawer          3.020          0.769          -0.407         0              180            0
  64  Drawer          -0.860         0.577          0.663          0              0              0
  65  Cabinet         2.819          1.768          -1.850         0              0              0
  66  CounterTop      3.111          0.936          0.019          0              0              0
  67  CounterTop      -1.007         0.935          -0.039         0              0              0
  68  Drawer          -0.860         0.385          0.663          0              0              0
  69  StoveBurner     -0.419         0.897          -1.269         0              315            0
  70  Drawer          -0.047         0.573          -1.324         0              0              0
  71  Drawer          -0.860         0.765          0.663          0              0              0
  72  Drawer          -0.860         0.385          -0.100         0              0              0
  73  Drawer          0.376          0.380          -1.509         0              0              0
  74  Drawer          -0.860         0.765          -0.100         0              0              0
  75  Drawer          0.376          0.765          -1.509         0              0              0
  76  Cabinet         2.849          0.419          0.409          0              0              0
  77  Drawer          -0.047         0.765          -1.324         0              0              0
  78  Cabinet         2.849          0.419          -0.610         0              0              0
  79  Cabinet         2.849          0.419          -0.959         0              0              0
  80  Cabinet         3.069          1.666          -0.709         0              0              0
  81  Cabinet         2.819          1.768          -1.047         0              0              0
  82  Cabinet         0.620          1.874          -1.259         0              0              0
  83  Cabinet         0.140          1.666          -1.559         0              0              0
  84  Cabinet         -0.189         1.666          -1.340         0              0              0
  85  Cabinet         -0.709         1.963          -0.819         0              0              0
  86  Cabinet         -0.920         1.665          -0.620         0              0              0
  87  Drawer          -0.860         0.190          -0.100         0              0              0
  88  CounterTop      0.133          0.935          -1.457         0              0              0
  89  Drawer          3.020          0.769          0.695          0              180            0
  90  Drawer          -0.677         0.577          -0.700         0              0              0
  91  Drawer          -0.860         0.190          1.429          0              0              0
  92  Drawer          -0.047         0.192          -1.324         0              0              0
  93  Drawer          -0.677         0.193          -0.700         0              0              0
  94  Drawer          -0.860         0.577          -0.100         0              0              0
  95  Sink            3.078          0.887          0.086          0              0              0
  96  StoveBurner     -0.239         0.897          -1.089         0              315            0
  97  Drawer          -0.860         0.190          0.663          0              0              0
  98  CounterTop      1.210          0.937          0.463          0              0              0
  99  Drawer          -0.047         0.381          -1.324         0              0              0
 100  Drawer          -0.677         0.387          -0.700         0              0              0
 101  Mirror          -1.295         1.630          0.045          0              0              0
 102  Drawer          -0.860         0.385          1.429          0              0              0
 103  HousePlant      3.196          0.891          -0.368         0              0              0
 104  StoveKnob       -0.090         0.790          -1.009         270            45             0
 105  StoveKnob       -0.280         0.790          -0.819         270            45             0
 106  StoveKnob       -0.180         0.790          -0.920         270            45             0
 107  StoveKnob       -0.370         0.790          -0.720         270            45             0
 108  GarbageCan      3.137          0.025          1.545          0              225            0
 109  Window          3.703          1.675          0.046          90             90             0
 110  CoffeeMachine   3.214          0.890          0.697          0              270            0
 111  LightSwitch     2.592          1.309          -1.880         0              0              0
 112  SinkBasin       3.069          0.736          0.108          0              90             0
 113  Fridge          1.008          0.029          -1.467         0              0              0
 114  Toaster         -1.035         0.873          -0.396         0              90             0
 115  Microwave       -1.034         0.874          1.428          0              90             0
 116  Faucet          3.305          0.886          0.094          270            180            0
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: turn around, go forward to far end of counter by apple | STEP 2: pick up apple from counter | STEP 3: turn around to face microwave on counter | STEP 4: open microwave, place apple on left side of gray plate in microwave, close microwave, microwave the apple, pick up apple from plate in microwave, close microwave | STEP 5: go to counter with loaf of bread to the left | STEP 6: place apple to the right of loaf of bread on counter | END