Task: place a microwaved apple inside of the kitchen cabinet

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          0.25           0              0              0
   1  SprayBottle     -1.764         0.116          -1.683         0              0              0              88
   2  Pen             -0.372         0.777          -1.500         0              90             0              80
   3  Potato          0.183          0.961          -1.556         0              270            0              60
   4  Potato          -1.732         0.952          -1.879         0              0              0              79
   5  Ladle           1.093          0.955          0.031          0              0              0              81
   6  Ladle           0.589          0.161          -1.537         0              90             0              75
   7  Kettle          -0.996         1.851          -1.875         0              0              0              61
   8  Kettle          -1.431         0.949          -1.81          0              0              0              91
   9  DishSponge      0.889          1.655          -1.913         0              0              0              70
  10  Glassbottle     -1.739         1.656          -1.748         0              90             0              62
  11  Fork            -0.477         0.911          -1.789         0              0              0              81
  12  Fork            0.115          0.920          -1.758         0              270            0              60
  13  Spoon           -2.201         0.911          0.032          0              0              0              83
  14  Spoon           -1.712         0.911          0.463          0              0              0              83
  15  Spatula         0.969          0.788          0.539          0              270            0              58
  16  Spatula         1.426          0.926          0.372          0              0              0              81
  17  Cup             1.356          1.720          2.026          0              270            0              100
  18  Cup             1.426          1.367          1.725          0              270            0              100
  19  Knife           0.664          0.941          -1.448         0              0              0              81
  20  Knife           -0.401         0.941          -1.619         0              0              0              81
  21  SoapBottle      0.918          0.117          0.430          0              90             0              64
  22  SoapBottle      -2.201         0.910          0.204          0              180            0              83
  23  Tomato          1.381          0.254          1.137          0              0              0              98
  24  Tomato          -1.809         0.950          -1.448         0              0              0              79
  25  Bowl            1.388          1.720          1.775          0              270            0              100
  26  PepperShaker    -0.685         0.106          -1.584         0              0              0              68
  27  PepperShaker    1.375          1.157          -1.345         0              0              0              87
  28  Lettuce         -2.323         0.979          0.377          0              0              0              83
  29  Mug             -1.796         0.111          -1.538         0              0              0              88
  30  Apple           1.420          0.249          1.022          0              0              0              98
  31  Apple           0.217          0.954          -1.708         0              270            0              60
  32  Tomato          -2.445         0.950          0.032          0              0              0              83
  33  Glassbottle     -2.039         0.911          -1.534         0              0              0              79
  34  Knife           -1.886         0.940          -1.879         0              90             0              79
  35  Plate           1.342          1.656          -1.264         0              0              0              73
  36  Fork            -1.835         0.911          0.377          0              0              0              83
  37  Ladle           1.461          1.700          -0.815         0              0              0              69
  38  Potato          1.426          0.953          0.031          0              0              0              81
  39  Lettuce         -2.079         0.979          0.377          0              0              0              83
  40  Kettle          -1.396         1.859          -1.838         0              0              0              74
  41  Pen             -1.962         0.913          -1.879         0              0              0              76
  42  SaltShaker      0.919          0.110          -1.013         0              0              0              66
  43  Cup             1.052          1.656          -1.913         0              0              0              70
  44  Egg             -2.445         0.939          0.291          0              0              0              83
  45  Spatula         1.015          0.788          -1.233         0              90             0              59
  46  Bowl            -0.530         1.656          -1.801         0              0              0              63
  47  SprayBottle     -1.886         0.909          -1.534         0              0              0              79
  48  Pan             0.645          1.655          -1.839         0              0              0              81
  49  SoapBottle      1.092          0.117          0.547          0              0              0              64
  50  Pot             -1.431         0.949          -1.525         0              0              0              89
  51  ButterKnife     1.414          1.162          -1.688         0              0              0              87
  52  PepperShaker    -1.835         0.905          0.032          0              90             0              83
  53  DishSponge      1.414          1.161          0.370          0              0              0              87
  54  Bread           1.375          1.445          1.976          0              270            0              100
  55  Apple           1.260          0.945          0.372          0              0              0              81
  56  Spoon           0.528          0.774          -1.500         0              270            0              85
  57  Mug             1.070          0.957          -1.641         0              0              0              97
  58  Drawer          0.860          0.75           0.430          0              0              0
  59  Drawer          0.871          0.75           -1.134         0              0              0
  60  Sink            0.156          0.817          -1.801         0              270            0
  61  Cabinet         -0.868         2.005          -1.690         0              0              0
  62  Cabinet         -1.661         2.059          -1.684         0              90             0
  63  Cabinet         -0.817         2.059          -1.689         0              0              0
  64  Cabinet         0.860          0.402          0.665          0              0              0
  65  Cabinet         0.860          0.402          -0.552         0              0              0
  66  Cabinet         0.860          0.402          -1.365         0              0              0
  67  Cabinet         -0.244         0.402          -1.389         0              0              0
  68  Cabinet         -0.815         0.402          -1.389         0              0              0
  69  Cabinet         1.159          2.059          -0.334         0              0              0
  70  Cabinet         0.488          2.059          -1.689         0              0              0
  71  Cabinet         -0.193         2.059          -1.689         0              0              0
  72  Drawer          0.860          0.75           -0.699         0              0              0
  73  Cabinet         1.159          2.059          -1.019         0              0              0
  74  Cabinet         -1.611         2.005          -1.690         0              0              0
  75  Cabinet         0.832          0.401          -1.393         0              90             0
  76  Drawer          -2.105         0.75           -1.389         0              0              0
  77  StoveBurner     -1.081         0.941          -1.809         0              0              0
  78  Cabinet         -0.202         0.401          -1.391         0              90             0
  79  CounterTop      -1.973         0.945          -1.707         0              0              0
  80  Drawer          -0.375         0.75           -1.389         0              0              0
  81  CounterTop      1.164          0.946          -0.649         0              0              0
  82  StoveBurner     -1.081         0.941          -1.527         0              0              0
  83  CounterTop      -2.096         0.945          0.291          0              0              0
  84  Cabinet         -2.237         0.402          -1.389         0              0              0
  85  Drawer          0.584          0.75           -1.389         0              0              0
  86  Drawer          -1.795         0.75           -1.389         0              0              0
  87  CounterTop      1.5            1.197          -0.654         0              0              0
  88  Cabinet         -1.667         0.402          -1.389         0              0              0
  89  StoveBurner     -1.430         0.941          -1.525         0              0              0
  90  Drawer          -0.685         0.75           -1.389         0              0              0
  91  StoveBurner     -1.430         0.941          -1.809         0              0              0
  92  LightSwitch     -2.539         1.289          2.568          0              90             0
  93  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  94  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  95  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  96  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  97  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  98  GarbageCan      1.343          0.015          1.041          0              0              0
  99  HousePlant      1.440          1.153          0.593          0              0              0
 100  Fridge          1.417          0.0            2.101          0              0              0
 101  Window          -0.486         1.452          3.302          90             0              0
 102  SinkBasin       -0.063         0.765          -1.713         0              270            0
 103  Microwave       1.422          1.150          0.022          0              270            0
 104  Toaster         -2.066         0.900          -1.848         0              0              0
 105  Stool           -1.994         0.010          0.882          0              0              0
 106  Faucet          -0.096         1.041          -1.867         0              270            0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: turn right and walk over to the kitchen counter ahead | STEP 2: grab an apple off of the kitchen counter | STEP 3: move to the right a bit and face the kitchen counter | STEP 4: place the apple inside of the microwave, microwave the apple, and then take it back out | STEP 5: move to the left a bit to face the far left side of the kitchen counter | STEP 6: place the apple inside of the light brown cabinet below | END