Task: Putting an apple on the kitchen island

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          2.5            0              180            0
   1  Pan             -0.106         0.925          0.041          0              90             0              74
   2  CellPhone       -1.874         0.909          -1.610         0              0              0              66
   3  CellPhone       1.900          0.909          1.258          0              0              0              66
   4  Ladle           1.714          0.164          0.454          0              270            0              58
   5  Ladle           1.769          0.164          0.745          0              270            0              58
   6  Kettle          -0.249         0.115          -1.284         0              0              0              45
   7  ButterKnife     -1.668         0.911          -1.513         0              0              0              66
   8  ButterKnife     -0.106         0.925          0.506          0              0              0              74
   9  Fork            -1.874         0.912          -1.221         0              0              0              66
  10  Spoon           1.812          0.462          1.219          0              0              0              64
  11  Spatula         1.610          0.364          0.116          0              270            0              62
  12  Spatula         0.170          0.775          -1.380         0              270            0              90
  13  Egg             -1.716         0.896          0.295          0              90             0              89
  14  Egg             -1.803         1.526          -0.175         0              90             0              89
  15  Plate           0.000          0.924          1.202          0              0              0              74
  16  SoapBottle      -1.237         1.683          -1.652         0              0              0              68
  17  SoapBottle      -0.320         0.929          -0.190         0              0              0              74
  18  Bowl            2.001          1.657          -1.129         0              270            0              54
  19  Lettuce         -0.175         0.837          -1.490         0              0              0              90
  20  Mug             1.924          1.001          -0.861         0              0              0              87
  21  SoapBottle      -1.727         0.915          -1.013         0              0              0              66
  22  Cup             -1.663         0.561          -0.269         0              90             0              89
  23  Pot             0.000          0.929          0.738          0              0              0              74
  24  Fork            1.713          0.580          0.736          0              270            0              70
  25  Ladle           0.214          0.969          0.970          0              0              0              74
  26  Kettle          1.975          0.938          0.601          0              180            0              61
  27  Egg             1.956          1.063          -0.756         0              270            0              87
  28  Plate           1.802          0.910          -1.610         0              0              0              66
  29  Pan             -1.286         0.9            -1.348         0              79.769         0              66
  30  Lettuce         -1.803         1.545          0.201          0              90             0              89
  31  Spatula         -0.002         0.775          -1.380         0              270            0              90
  32  Apple           0.256          0.813          -1.380         0              0              0              90
  33  Knife           1.117          0.933          -1.318         0              0              0              66
  34  SaltShaker      -1.059         0.109          -1.614         0              0              0              78
  35  PepperShaker    0.321          0.921          1.202          0              0              0              74
  36  CellPhone       1.769          0.580          -0.019         0              270            0              51
  37  ButterKnife     -0.638         0.911          -1.610         0              0              0              66
  38  Bread           0.214          1.006          0.738          0              0              0              74
  39  Tomato          -0.320         0.980          0.738          0              0              0              74
  40  Potato          0.000          0.949          0.970          0              0              0              74
  41  DishSponge      -0.213         0.925          1.202          0              0              0              74
  42  Spoon           1.661          0.118          0.116          0              0              0              49
  43  Mug             1.355          0.955          -1.362         0              0              0              88
  44  Bowl            0.214          0.924          0.506          0              0              0              74
  45  Cabinet         -0.495         0.474          -1.149         0              0              0
  46  Window          -0.010         1.582          -1.821         0              0              0
  47  Drawer          0.805          0.475          -1.159         0              0              0
  48  StoveBurner     1.764          0.902          0.601          0              270            0
  49  Drawer          1.5            0.196          -0.019         0              0              0
  50  Drawer          1.5            0.629          -0.018         0              0              0
  51  Drawer          1.5            0.602          -0.019         0              270            0
  52  StoveBurner     1.975          0.902          0.384          0              270            0
  53  Cabinet         -1.703         2.022          -1.453         0              90             0
  54  Cabinet         1.789          2.019          -0.819         0              270            0
  55  Cabinet         0.494          0.474          -1.149         0              0              0
  56  Cabinet         0.409          0.475          0.444          0              0              0
  57  Drawer          -0.696         0.475          -1.159         0              0              0
  58  Drawer          1.5            0.140          0.599          0              270            0
  59  Cabinet         1.389          0.474          -1.149         0              0              0
  60  Drawer          1.5            0.305          0.600          0              0              0
  61  StoveBurner     1.975          0.902          0.601          0              270            0
  62  Drawer          1.5            0.429          -0.019         0              0              0
  63  StoveBurner     1.764          0.902          0.819          0              270            0
  64  Drawer          1.5            0.519          1.220          0              0              0
  65  Cabinet         1.705          2.019          -1.449         0              0              0
  66  CounterTop      0.002          0.947          -1.513         0              0              0
  67  Drawer          1.5            0.629          0.605          0              0              0
  68  Cabinet         -0.627         2.019          -1.449         0              0              0
  69  StoveBurner     1.764          0.902          0.384          0              270            0
  70  Drawer          1.5            0.538          0.600          0              0              0
  71  Sink            0.0            0.893          -1.434         0              0              0
  72  Drawer          1.5            0.782          1.220          0              270            0
  73  Window          2.217          1.565          -0.384         0              0              0
  74  CounterTop      -0.014         0.961          0.505          0              0              0
  75  Drawer          1.5            0.200          1.220          0              0              0
  76  StoveBurner     1.975          0.902          0.819          0              270            0
  77  Window          -3.240         1.616          2.693          0              270            0
  78  Cabinet         -1.389         0.474          -1.149         0              0              0
  79  LightSwitch     -0.153         1.291          3.700          0              180            0
  80  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  81  StoveKnob       1.602          0.917          0.570          0              270            180
  82  StoveKnob       1.602          0.917          0.625          0              270            180
  83  StoveKnob       1.602          0.917          0.739          0              270            180
  84  StoveKnob       1.602          0.917          0.680          0              270            180
  85  StoveKnob       1.602          0.917          0.462          0              270            180
  86  StoveKnob       1.602          0.917          0.517          0              270            180
  87  Microwave       1.932          0.899          -0.766         0              270            0
  88  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  89  Fridge          -1.764         0.0            0.014          0              90             0
  90  SinkBasin       -0.014         0.736          -1.435         0              0              0
  91  Toaster         1.977          0.900          -0.336         0              270            0
  92  Faucet          -0.020         1.137          -1.605         0              270            0
  93  Chair           -9.354         0.000          1.242          0              180            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Head straight and go to the sink | STEP 2: Grab the apple out of the sink | STEP 3: Turn left and stop at the microwave | STEP 4: Heat the apple in the microwave and then take it out | STEP 5: Turn around and stop at the kitchen island | STEP 6: Put the apple on the counter | END