Task: Get an apple and place it 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           -0.75          0.900          2.25           0              180            0
   1  Pan             1.807          0.909          -0.320         0              180            0              45
   2  ButterKnife     1.245          0.910          1.004          0              90             0              43
   3  DishSponge      0.926          0.910          -1.230         0              90             0              47
   4  Fork            0.220          0.911          0.915          0              90             0              43
   5  Spoon           1.726          0.912          -1.545         0              180            0              47
   6  Knife           1.451          0.943          0.518          0              270            0              43
   7  Knife           1.726          0.943          -1.631         0              180            0              47
   8  SoapBottle      1.809          2.134          1.236          0              0              0              50
   9  SoapBottle      1.607          0.908          0.570          0              90             0              43
  10  Tomato          1.757          0.974          1.180          0              90             0              43
  11  Tomato          1.762          0.974          0.518          0              90             0              43
  12  Bowl            1.805          1.631          -0.973         0              0              0              55
  13  SaltShaker      0.476          0.905          1.180          0              90             0              43
  14  SaltShaker      1.733          2.132          0.805          0              0              0              51
  15  PepperShaker    1.878          2.132          0.805          0              0              0              51
  16  PepperShaker    1.935          0.906          -1.802         0              90             0              47
  17  Lettuce         1.726          1.011          -1.717         0              90             0              47
  18  Bread           1.796          0.988          -1.374         0              90             0              47
  19  Bread           -0.692         0.537          -1.541         0              0              0              70
  20  Mug             1.935          0.906          -1.545         0              90             0              47
  21  Plate           -0.741         1.390          -1.594         0              0              0              70
  22  SoapBottle      1.800          0.068          1.731          0              270            0              61
  23  Cup             0.356          0.909          -1.263         0              90             0              47
  24  Egg             -0.887         0.495          -1.348         0              0              0              70
  25  Fork            0.732          0.911          1.004          0              180            0              43
  26  Ladle           1.808          1.683          0.487          0              0              0              52
  27  Apple           1.738          1.072          -0.676         0              270            0              67
  28  SaltShaker      1.841          1.630          -1.297         0              0              0              56
  29  Pan             1.543          0.909          -0.320         0              90             0              46
  30  Tomato          1.917          0.974          0.415          0              90             0              43
  31  Spatula         1.696          1.080          0.074          0              0              49.769         49
  32  Potato          0.476          0.950          0.827          0              0              0              43
  33  Knife           1.839          0.943          0.311          0              0              0              43
  34  ButterKnife     1.308          0.760          -1.599         0              90             0              62
  35  Bread           1.615          0.977          0.760          0              50.525         0              43
  36  Lettuce         0.856          0.989          1.119          0              270            2.382          43
  37  PepperShaker    1.012          0.906          -1.264         0              90             0              47
  38  Pot             1.534          0.908          0.058          0              195.000        0              49
  39  DishSponge      1.355          0.910          -1.247         0              90             0              47
  40  Spoon           0.553          0.912          -1.352         0              90             0              47
  41  Bowl            -0.692         0.749          -1.594         0              0              0              70
  42  Mug             -0.692         1.678          -1.524         0              0              0              70
  43  CounterTop      0.989          0.946          1.016          0              90             0
  44  StoveBurner     1.807          0.907          0.075          0              180            0
  45  StoveBurner     1.807          0.907          -0.320         0              180            0
  46  StoveBurner     1.543          0.907          -0.320         0              90             0
  47  CounterTop      0.989          0.946          -1.516         0              90             0
  48  Sink            1.100          0.906          -1.599         0              0              0
  49  StoveBurner     1.548          0.907          0.075          0              180            0
  50  Cabinet         1.658          2.299          1.313          0              0              0
  51  Cabinet         1.658          2.299          0.686          0              0              0
  52  Cabinet         1.658          2.049          0.673          0              0              0
  53  Cabinet         1.658          2.059          0.193          0              0              0
  54  Cabinet         1.658          2.059          -0.593         0              0              0
  55  Cabinet         1.658          2.049          -0.606         0              0              0
  56  Cabinet         1.658          2.049          -1.206         0              0              0
  57  Cabinet         1.658          2.049          -1.893         0              0              0
  58  Toaster         0.131          0.900          -1.589         0              0              0
  59  Window          -0.372         1.588          3.349          90             0              0
  60  Window          0.782          1.741          -1.893         90             0              0
  61  GarbageCan      1.770          -0.029         1.685          0              270            0
  62  SinkBasin       1.091          0.740          -1.599         0              0              0
  63  StoveKnob       1.364          0.821          0.086          48.421         270            0
  64  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  65  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  66  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  67  Microwave       1.752          0.900          -0.843         0              270            0
  68  LightSwitch     2.0            1.261          3.094          0              270            0
  69  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  70  Fridge          -0.533         0.0            -1.554         0              0              0
  71  Chair           1.068          0.000          1.752          0              191.622        0
  72  Faucet          1.110          1.138          -1.764         0              270            0
  73  Chair           0.357          0.000          1.710          0              178.899        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Move forward to the refrigerator and turn left | STEP 2: Move forward to the microwave, open the door, and take out the apple | STEP 3: Turn around, walk across the kitchen, and turn left to face the refrigerator. | STEP 4: Open the refrigerator door, put the apple inside the tray on the right, close the refrigerator door, open the refrigerator door, and pick up the apple | STEP 5: Turn left, walk across the kitchen and turn right to face the machine | STEP 6: Set the apple on the counter next to the spoon | END