Task: place an microwaved apple down on the kitchen 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          0.5            0              90             0
   1  Ladle           -0.991         0.363          0.664          0              90             0              67
   2  DishSponge      -0.029         0.514          -1.304         0              45             0              69
   3  DishSponge      0.022          0.899          -1.516         0              0              0              87
   4  Kettle          1.360          0.909          0.747          0              0              0              97
   5  Pot             1.098          0.911          0.605          0              180            0              97
   6  Spatula         3.069          0.762          -0.034         0              90             0              111
   7  Spatula         -0.991         0.532          -0.361         0              90             0              93
   8  CellPhone       1.622          0.905          0.180          0              0              0              97
   9  CellPhone       -0.950         0.703          1.693          0              0              0              59
  10  Mug             2.890          1.459          -1.088         0              270            0              80
  11  Mug             0.713          1.669          -1.341         0              0              0              81
  12  Apple           3.182          0.174          1.653          0              225            0              107
  13  Apple           0.110          0.974          -1.332         0              45             0              87
  14  Bread           -1.008         0.979          0.399          0              0              0              66
  15  Lettuce         0.605          0.973          0.218          0              36.810         0              97
  16  Lettuce         0.622          0.976          0.527          0              0              0              97
  17  SaltShaker      3.152          0.708          -0.863         0              180            0              53
  18  SaltShaker      -0.051         0.318          -1.233         0              45             0              98
  19  PepperShaker    -0.827         0.703          -0.098         0              0              0              73
  20  PepperShaker    -0.612         0.514          -0.728         0              45             0              89
  21  Bowl            0.760          1.671          -1.619         0              0              0              81
  22  Tomato          2.888          0.937          0.947          0              0              0              65
  23  Tomato          0.798          0.947          0.827          0              0              0              97
  24  Egg             1.086          1.126          -1.531         0              0              0              112
  25  Egg             -0.002         0.952          -1.630         0              45             0              87
  26  Knife           0.710          0.933          0.426          0              0              0              97
  27  Plate           -0.953         0.886          0.699          0              0              0              66
  28  Glassbottle     -0.868         1.259          -0.762         0              45             0              85
  29  SoapBottle      0.494          0.909          -1.445         0              0              0              87
  30  Potato          -0.705         0.938          -0.621         0              45             0              66
  31  Fork            -0.141         0.900          -1.491         0              45             0              87
  32  Ladle           0.101          0.937          -1.588         0              90             0              87
  33  Pot             3.084          0.177          0.770          0              0              0              75
  34  Kettle          -0.420         0.902          -0.920         0              135            0              61
  35  Spatula         -0.786         0.341          1.518          0              0              0              101
  36  Knife           -0.675         0.925          -0.753         0              135            0              66
  37  Lettuce         0.798          0.973          0.527          0              0              0              97
  38  Cup             3.198          0.173          -0.744         0              0              0              78
  39  SaltShaker      3.122          0.897          -0.599         0              0              0              65
  40  Egg             3.200          0.953          -0.798         0              0              0              65
  41  PepperShaker    -0.935         0.896          -0.047         0              0              0              66
  42  ButterKnife     0.967          0.911          0.889          0              0              0              97
  43  Apple           0.892          0.984          0.369          0              36.810         0              97
  44  Pan             -0.239         0.902          -1.089         0              315            0              95
  45  Bread           1.534          0.972          0.486          0              289.287        0              97
  46  CellPhone       3.044          0.898          -0.798         0              0              0              65
  47  DishSponge      -0.029         0.132          -1.304         0              45             0              91
  48  Tomato          -0.717         0.937          -0.270         0              0              0              66
  49  Spoon           -0.789         0.901          0.176          0              0              0              66
  50  Bowl            1.160          1.671          -1.480         0              0              0              57
  51  Mug             3.049          0.966          0.591          0              270            0              109
  52  Drawer          0.376          0.572          -1.509         0              0              0
  53  Drawer          3.020          0.769          -0.783         0              180            0
  54  Drawer          -0.860         0.577          1.429          0              0              0
  55  StoveBurner     -0.600         0.897          -1.090         0              135            0
  56  Drawer          0.376          0.191          -1.509         0              0              0
  57  Cabinet         1.402          1.874          -1.259         0              0              0
  58  Cabinet         -0.202         1.963          -1.328         0              0              0
  59  Drawer          -0.860         0.765          1.429          0              0              0
  60  Drawer          -0.677         0.765          -0.700         0              0              0
  61  StoveBurner     -0.420         0.897          -0.920         0              135            0
  62  Drawer          3.020          0.769          -0.407         0              180            0
  63  Drawer          -0.860         0.577          0.663          0              0              0
  64  Cabinet         2.819          1.768          -1.850         0              0              0
  65  CounterTop      3.111          0.936          0.019          0              0              0
  66  CounterTop      -1.007         0.935          -0.039         0              0              0
  67  Drawer          -0.860         0.385          0.663          0              0              0
  68  StoveBurner     -0.419         0.897          -1.269         0              315            0
  69  Drawer          -0.047         0.573          -1.324         0              0              0
  70  Drawer          -0.860         0.765          0.663          0              0              0
  71  Drawer          -0.860         0.385          -0.100         0              0              0
  72  Drawer          0.376          0.380          -1.509         0              0              0
  73  Drawer          -0.860         0.765          -0.100         0              0              0
  74  Drawer          0.376          0.765          -1.509         0              0              0
  75  Cabinet         2.849          0.419          0.409          0              0              0
  76  Drawer          -0.047         0.765          -1.324         0              0              0
  77  Cabinet         2.849          0.419          -0.610         0              0              0
  78  Cabinet         2.849          0.419          -0.959         0              0              0
  79  Cabinet         3.069          1.666          -0.709         0              0              0
  80  Cabinet         2.819          1.768          -1.047         0              0              0
  81  Cabinet         0.620          1.874          -1.259         0              0              0
  82  Cabinet         0.140          1.666          -1.559         0              0              0
  83  Cabinet         -0.189         1.666          -1.340         0              0              0
  84  Cabinet         -0.709         1.963          -0.819         0              0              0
  85  Cabinet         -0.920         1.665          -0.620         0              0              0
  86  Drawer          -0.860         0.190          -0.100         0              0              0
  87  CounterTop      0.133          0.935          -1.457         0              0              0
  88  Drawer          3.020          0.769          0.695          0              180            0
  89  Drawer          -0.677         0.577          -0.700         0              0              0
  90  Drawer          -0.860         0.190          1.429          0              0              0
  91  Drawer          -0.047         0.192          -1.324         0              0              0
  92  Drawer          -0.677         0.193          -0.700         0              0              0
  93  Drawer          -0.860         0.577          -0.100         0              0              0
  94  Sink            3.078          0.887          0.086          0              0              0
  95  StoveBurner     -0.239         0.897          -1.089         0              315            0
  96  Drawer          -0.860         0.190          0.663          0              0              0
  97  CounterTop      1.210          0.937          0.463          0              0              0
  98  Drawer          -0.047         0.381          -1.324         0              0              0
  99  Drawer          -0.677         0.387          -0.700         0              0              0
 100  Mirror          -1.295         1.630          0.045          0              0              0
 101  Drawer          -0.860         0.385          1.429          0              0              0
 102  HousePlant      3.196          0.891          -0.368         0              0              0
 103  StoveKnob       -0.090         0.790          -1.009         270            45             0
 104  StoveKnob       -0.280         0.790          -0.819         270            45             0
 105  StoveKnob       -0.180         0.790          -0.920         270            45             0
 106  StoveKnob       -0.370         0.790          -0.720         270            45             0
 107  GarbageCan      3.137          0.025          1.545          0              225            0
 108  Window          3.703          1.675          0.046          90             90             0
 109  CoffeeMachine   3.214          0.890          0.697          0              270            0
 110  LightSwitch     2.592          1.309          -1.880         0              0              0
 111  SinkBasin       3.069          0.736          0.108          0              90             0
 112  Fridge          1.008          0.029          -1.467         0              0              0
 113  Toaster         -1.035         0.873          -0.396         0              90             0
 114  Microwave       -1.034         0.874          1.428          0              90             0
 115  Faucet          3.305          0.886          0.094          270            180            0
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: turn right and walk till you're at the end of the kitchen island counter on your right, then turn right and walk to the center of that kitchen island counter and turn right to face it | STEP 2: grab an apple off of the kitchen island counter | STEP 3: turn left and walk over to the microwave in the corner of the room to your right | STEP 4: place the apple inside of the microwave, microwave it, then take it back out | STEP 5: turn left and walk forwards to the toaster on the kitchen counter on your right, stop just before the kitchen toaster | STEP 6: place the apple down on the kitchen counter to the right of the toaster and in front of the salt shaker | END