Task: Put a microwaved apple on the 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 head towards the door then turn right and make your way to the counter on the right | STEP 2: Pick up the apple from the counter | STEP 3: Turn left and go around the counter to the wall, then turn left towards the microwave | STEP 4: Put the apple in the microwave and cook it, then remove it from the microwave | STEP 5: Turn left and go to the middle of the counter on the right | STEP 6: Put the apple on the counter in front of the salt shaker | END