Task: Place a cooked apple on a counter

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          1.0            0              180            0
   1  SprayBottle     1.381          0.213          1.022          0              0              0              84
   2  Pen             0.970          0.774          -0.665         0              90             0              58
   3  Potato          1.476          1.409          1.975          0              270            0              86
   4  Kettle          -1.431         0.949          -1.81          0              0              0              77
   5  ButterKnife     -1.809         0.910          -1.534         0              0              0              65
   6  Glassbottle     1.494          1.162          -1.345         0              0              0              73
   7  Fork            1.010          0.911          0.031          0              270            0              67
   8  Fork            0.697          0.774          -1.533         0              0              0              71
   9  Spoon           -0.703         0.912          -1.704         0              90             0              76
  10  Egg             -0.063         0.805          -1.781         0              270            0              88
  11  Cup             -1.732         0.910          -1.707         0              0              0              65
  12  Knife           0.946          0.941          -1.704         0              0              0              67
  13  Knife           0.758          0.941          -1.448         0              0              0              67
  14  SaltShaker      -2.079         0.905          0.463          0              0              0              69
  15  Bread           -1.957         0.988          0.204          0              0              0              69
  16  Lettuce         1.494          1.231          -1.688         0              0              0              73
  17  Apple           1.459          0.249          1.022          0              0              0              84
  18  Tomato          0.149          0.959          -1.758         0              270            0              46
  19  Glassbottle     1.325          1.368          1.851          0              270            0              86
  20  Knife           0.217          0.949          -1.657         0              270            0              46
  21  Plate           1.342          1.656          -1.185         0              0              0              59
  22  Fork            -2.079         0.911          0.204          0              0              0              69
  23  Ladle           -2.323         0.954          0.463          0              0              0              69
  24  Potato          0.149          0.961          -1.556         0              270            0              46
  25  Lettuce         -0.703         0.980          -1.789         0              0              0              67
  26  Kettle          -1.081         0.949          -1.81          0              0              0              63
  27  Pen             -1.709         0.777          -1.565         0              270            0              72
  28  SaltShaker      -2.041         0.106          -1.487         0              0              0              70
  29  Cup             0.279          1.656          -1.839         0              0              0              57
  30  Egg             1.473          1.288          0.083          0              270            0              89
  31  Spatula         0.105          0.926          -1.436         0              0              0              46
  32  Bowl            1.376          1.368          2.351          0              270            0              86
  33  SprayBottle     1.520          1.655          -1.579         0              0              0              59
  34  Pan             -1.079         0.945          -1.528         0              0              0              68
  35  SoapBottle      -1.809         0.910          -1.965         0              0              0              65
  36  Pot             0.967          0.9            0.249          0              0              0              67
  37  ButterKnife     0.569          0.911          -1.619         0              0              0              67
  38  PepperShaker    1.401          1.651          -1.421         0              0              0              59
  39  DishSponge      1.260          0.910          0.372          0              0              0              44
  40  Bread           -2.201         0.988          0.291          0              0              0              69
  41  Apple           1.302          0.249          1.137          0              0              0              84
  42  Spoon           1.036          0.772          -0.665         0              270            0              58
  43  Mug             1.420          1.715          1.713          0              270            0              86
  44  Drawer          0.860          0.75           0.430          0              0              0
  45  Drawer          0.871          0.75           -1.134         0              0              0
  46  Sink            0.156          0.817          -1.801         0              270            0
  47  Cabinet         -0.868         2.005          -1.690         0              0              0
  48  Cabinet         -1.661         2.059          -1.684         0              90             0
  49  Cabinet         -0.817         2.059          -1.689         0              0              0
  50  Cabinet         0.860          0.402          0.665          0              0              0
  51  Cabinet         0.860          0.402          -0.552         0              0              0
  52  Cabinet         0.860          0.402          -1.365         0              0              0
  53  Cabinet         -0.244         0.402          -1.389         0              0              0
  54  Cabinet         -0.815         0.402          -1.389         0              0              0
  55  Cabinet         1.159          2.059          -0.334         0              0              0
  56  Cabinet         0.488          2.059          -1.689         0              0              0
  57  Cabinet         -0.193         2.059          -1.689         0              0              0
  58  Drawer          0.860          0.75           -0.699         0              0              0
  59  Cabinet         1.159          2.059          -1.019         0              0              0
  60  Cabinet         -1.611         2.005          -1.690         0              0              0
  61  Cabinet         0.832          0.401          -1.393         0              90             0
  62  Drawer          -2.105         0.75           -1.389         0              0              0
  63  StoveBurner     -1.081         0.941          -1.809         0              0              0
  64  Cabinet         -0.202         0.401          -1.391         0              90             0
  65  CounterTop      -1.973         0.945          -1.707         0              0              0
  66  Drawer          -0.375         0.75           -1.389         0              0              0
  67  CounterTop      1.164          0.946          -0.649         0              0              0
  68  StoveBurner     -1.081         0.941          -1.527         0              0              0
  69  CounterTop      -2.096         0.945          0.291          0              0              0
  70  Cabinet         -2.237         0.402          -1.389         0              0              0
  71  Drawer          0.584          0.75           -1.389         0              0              0
  72  Drawer          -1.795         0.75           -1.389         0              0              0
  73  CounterTop      1.5            1.197          -0.654         0              0              0
  74  Cabinet         -1.667         0.402          -1.389         0              0              0
  75  StoveBurner     -1.430         0.941          -1.525         0              0              0
  76  Drawer          -0.685         0.75           -1.389         0              0              0
  77  StoveBurner     -1.430         0.941          -1.809         0              0              0
  78  LightSwitch     -2.539         1.289          2.568          0              90             0
  79  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  80  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  81  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  82  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  83  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  84  GarbageCan      1.343          0.015          1.041          0              0              0
  85  HousePlant      1.440          1.153          0.593          0              0              0
  86  Fridge          1.417          0.0            2.101          0              0              0
  87  Window          -0.486         1.452          3.302          90             0              0
  88  SinkBasin       -0.063         0.765          -1.713         0              270            0
  89  Microwave       1.422          1.150          0.022          0              270            0
  90  Toaster         -2.066         0.900          -1.848         0              0              0
  91  Stool           -1.994         0.010          0.882          0              0              0
  92  Faucet          -0.096         1.041          -1.867         0              270            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Head to the sink then hang right and walk to the counter that is next to the stove on your left. The one that the toaster is on | STEP 2: Pick up the butter knife that is sitting on the counter | STEP 3: Turn around and cross the room then hang a right and walk to the trash can that is sitting to the right of the fridge.  It is in between the counter and the fridge | STEP 4: Slice the green apple that is sitting inside on the left | STEP 5: Turn to the right and walk to the sink, then turn left and face the counter top.  | STEP 6: Place the knife on the back shelf of the countertop to the left of the vase | STEP 7: Turn left and walk to the trash can than is sandwiched in between the fridge and counter top on your right | STEP 8: Pick up a slice of the apple | STEP 9: Turn right and walk to the microwave that is sitting on the counter above the dishwasher | STEP 10: Open the microwave and place the apple inside on the right of the egg then close the door and turn it on. Then open the microwave and pick up the slice of apple and close the door | STEP 11: Turn to the right and walk to the sink and then turn left and face the counter | STEP 12: Place the slice of apple on the top shelf of the counter, to the left of the butter knife | END