Task: get an apple from the fridge to cook it in the microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          0.75           0              180            0
   1  Pan             -1.289         0.957          -0.756         0              180            0              58
   2  Potato          1.846          1.045          -1.297         0              270            0              88
   3  Ladle           -0.611         0.731          0.190          0              270            0              77
   4  Ladle           -1.278         0.950          0.241          0              0              0              76
   5  DishSponge      -0.420         0.913          0.241          0              0              0              76
   6  DishSponge      2.798          0.551          0.038          0              180            0              89
   7  ButterKnife     -1.138         0.911          -2.014         0              0              0              83
   8  Spatula         -1.075         0.926          -1.638         0              0              0              83
   9  Spatula         -0.117         0.778          -2.063         0              90             0              93
  10  Egg             1.194          0.944          -1.760         0              0              0              83
  11  Plate           -0.375         1.129          0.618          0              0              0              79
  12  Knife           -0.031         0.786          -1.952         0              270            0              93
  13  Knife           -0.759         0.717          -1.846         0              270            0              53
  14  SoapBottle      2.002          0.063          0.109          0              0              0              86
  15  SoapBottle      -0.634         0.913          0.241          0              0              0              76
  16  Tomato          1.836          1.477          -0.271         0              270            0              90
  17  Tomato          2.055          1.148          -0.830         0              270            0              90
  18  Bowl            1.836          1.424          -0.551         0              270            0              90
  19  Bowl            1.836          0.814          -0.644         0              270            0              90
  20  SaltShaker      0.012          0.693          0.222          0              180            0              82
  21  SaltShaker      -0.623         0.688          -2.023         0              0              0              53
  22  Lettuce         -0.152         1.208          0.529          0              0              0              79
  23  Apple           -1.404         0.959          -1.806         0              0              0              83
  24  Apple           0.141          0.811          -2.063         0              0              0              93
  25  Pan             -1.289         0.957          -1.02          0              0              0              73
  26  Knife           -0.822         1.155          0.662          0              180            0              79
  27  Bowl            2.000          1.424          -0.737         0              270            0              90
  28  Fork            -1.045         1.132          0.706          0              0              0              79
  29  Cup             0.101          0.750          -1.938         0              0              0              93
  30  Ladle           -0.897         0.173          -0.296         0              90             0              70
  31  Apple           1.836          1.147          -0.644         0              270            0              90
  32  Kettle          -1.047         0.953          -2.094         0              0              0              83
  33  Vase            -0.634         0.915          0.083          0              0              0              76
  34  Potato          2.055          0.847          -0.365         0              270            0              90
  35  Pot             -1.056         0.956          -0.672         0              180            0              55
  36  Bread           -1.148         0.981          -0.193         0              0              0              76
  37  Plate           1.571          0.115          -1.332         0              0              0              57
  38  Spatula         -0.203         0.778          -1.897         0              270            0              93
  39  PaperTowelRoll  0.071          1.235          0.485          0              0              0              79
  40  Vase            2.699          0.869          0.182          0              0              0              87
  41  Egg             2.002          0.096          0.195          0              0              0              86
  42  SoapBottle      1.841          1.652          -1.868         0              0              0              61
  43  SaltShaker      -0.619         0.108          -1.832         0              0              0              68
  44  Lettuce         -0.256         0.867          -1.969         327.984        40.845         31.472         93
  45  PepperShaker    -0.691         0.690          -1.891         0              0              0              53
  46  ButterKnife     -0.290         0.763          -2.063         0              180            0              93
  47  DishSponge      1.845          0.062          0.166          0              0              0              86
  48  Vase            2.979          0.539          0.128          0              0              0              89
  49  Spoon           0.008          0.914          0.135          0              0              0              76
  50  Tomato          -0.598         1.181          0.529          0              0              0              79
  51  Mug             0.501          0.955          -1.900         0              0              0              99
  52  Statue          -0.997         0.920          -0.292         0              90             0              76
  53  Drawer          -0.819         0.75           -1.690         0              0              0
  54  Cabinet         -1.149         2.264          -0.838         0              90             0
  55  StoveBurner     -1.056         0.949          -0.671         0              180            0
  56  Cabinet         1.738          2.019          -2.000         0              0              0
  57  Cabinet         1.389          0.469          -1.059         0              0              0
  58  StoveBurner     -1.289         0.949          -0.755         0              180            0
  59  Faucet          -0.157         1.052          -2.196         0              270            0
  60  Cabinet         1.75           2.019          -1.029         0              0              0
  61  Cabinet         1.75           2.019          -1.399         0              0              0
  62  Cabinet         1.179          2.019          -2.0           0              0              0
  63  Cabinet         0.199          2.019          -2.0           0              0              0
  64  Cabinet         -1.100         2.019          -2.0           0              0              0
  65  Cabinet         -1.149         2.019          -1.979         0              0              0
  66  Cabinet         -1.149         2.019          -0.770         0              0              0
  67  Cabinet         -1.149         2.019          0.380          0              0              0
  68  Cabinet         -0.819         0.469          -1.689         0              0              0
  69  Cabinet         -0.839         0.469          -1.664         0              0              0
  70  Cabinet         -0.839         0.469          -0.049         0              0              0
  71  Cabinet         -0.414         0.370          -0.009         0              0              0
  72  Sink            -0.118         0.875          -2.009         0              0              0
  73  StoveBurner     -1.289         0.949          -1.019         0              0              0
  74  Cabinet         0.119          2.264          -2.0           0              0              0
  75  Cabinet         -0.459         2.264          -2.0           0              0              0
  76  CounterTop      -0.665         0.949          0.188          0              0              0
  77  Drawer          -0.449         0.75           -0.010         0              180            0
  78  Cabinet         -0.450         0.469          -0.009         0              0              0
  79  CounterTop      -0.630         1.167          0.573          0              0              0
  80  StoveBurner     -1.056         0.949          -1.126         0              0              0
  81  Cabinet         1.376          0.460          -1.685         0              0              0
  82  Drawer          -0.070         0.75           -0.009         0              180            0
  83  CounterTop      1.159          0.946          -2.013         0              0              0
  84  Cabinet         -1.150         2.264          -1.418         0              90             0
  85  HousePlant      -1.246         1.108          0.606          0              0              0
  86  GarbageCan      1.923          -0.010         0.137          0              0              0
  87  Shelf           2.759          0.880          0.144          0              0              0
  88  Microwave       1.827          0.900          -1.354         0              270            0
  89  Shelf           2.759          0.552          0.145          0              0              0
  90  Fridge          1.975          0.0            -0.537         0              0              0
  91  LightSwitch     0.404          1.297          2.0            0              180            0
  92  Shelf           2.760          0.172          0.145          0              0              0
  93  SinkBasin       -0.129         0.752          -2.007         0              0              0
  94  StoveKnob       -0.873         0.903          -0.827         45             90             0
  95  StoveKnob       -0.873         0.903          -0.676         45             90             0
  96  StoveKnob       -0.873         0.903          -0.966         45             90             0
  97  StoveKnob       -0.873         0.903          -1.123         45             90             0
  98  Toaster         0.840          0.900          -2.057         0              0              0
  99  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 100  ShelvingUnit    2.760          0.006          0.144          0              0              0
 101  Stool           -0.826         0.010          0.908          0              347.513        0
 102  Stool           -0.132         0.010          0.883          0              71.555         0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: walk forward a few steps, turn left to face fridge | STEP 2: open fridge, take apple off of the shelf in the fidge, shut fridge | STEP 3: turn around and face back to fridge, take a couple steps to the right, face microwave | STEP 4: open microwave, put apple in microwave, close it, turn it on, get apple out | STEP 5: turn to the right | STEP 6: put the apple on to the counter | END