Task: Place a cooked apple on a shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.869          -2.5           0              90             0
   1  DishSponge      0.757          0.772          -0.735         0              270            0              63
   2  DishSponge      0.721          0.664          0.508          0              0              0              45
   3  ButterKnife     -1.886         0.701          -1.199         0              0              0              76
   4  Spoon           0.671          0.760          -0.252         0              0              0              39
   5  Pot             -2.097         0.930          0.785          0              0              0              42
   6  Egg             -1.261         0.088          -3.537         0              270            0              55
   7  Egg             0.669          1.411          -1.725         0              270            0              60
   8  Plate           -1.719         0.705          -1.091         0              0              0              76
   9  Knife           0.817          0.783          -0.188         0              90             0              39
  10  Knife           1.084          0.906          -0.611         0              90             0              40
  11  Tomato          0.841          0.712          0.387          0              0              0              45
  12  Tomato          -1.556         0.748          -3.276         0              0              0              67
  13  PepperShaker    0.898          0.012          -0.833         0              0              0              43
  14  PepperShaker    0.566          0.012          -0.833         0              0              0              43
  15  SaltShaker      -1.599         0.692          -3.614         0              0              0              67
  16  Mug             0.785          1.369          -1.725         0              270            0              60
  17  Apple           0.841          0.826          -0.515         0              270            0              63
  18  Pot             -1.555         0.930          1.049          0              0              0              49
  19  Plate           0.149          0.904          0.843          0              270            0              66
  20  Fork            0.757          0.773          -0.625         0              270            0              63
  21  SoapBottle      -1.635         0.701          -1.524         0              0              0              76
  22  Apple           -1.578         0.753          -3.445         0              0              0              67
  23  Pan             0.740          -0.007         -0.596         0              0              0              43
  24  Egg             -0.252         0.937          1.015          0              270            0              66
  25  Spatula         0.866          0.774          -0.061         0              270            0              39
  26  Potato          0.655          0.916          -0.108         0              0              0              40
  27  Cup             0.746          0.663          -2.190         0              270            0              60
  28  SaltShaker      -0.453         0.896          1.272          0              270            0              66
  29  PepperShaker    0.842          0.012          -0.768         0              0              0              43
  30  ButterKnife     -0.654         0.900          0.843          0              270            0              66
  31  DishSponge      0.671          0.759          -0.061         0              0              0              39
  32  Bread           -0.873         0.931          0.978          0              24.231         0              66
  33  Lettuce         -1.084         0.973          0.955          41.443         1.761          3.081          66
  34  Tomato          0.708          0.713          -1.725         0              270            0              60
  35  Spoon           0.877          0.884          -0.108         0              0              0              40
  36  Knife           0.769          0.783          -0.252         0              90             0              39
  37  Mug             -1.843         0.794          -3.771         0              90             0              62
  38  Bowl            0.949          1.462          0.473          0              0              0              52
  39  Drawer          0.706          0.766          -0.125         0              0              0
  40  CounterTop      0.792          0.919          -0.108         0              0              0
  41  Mirror          1.093          1.602          -0.643         0              0              0
  42  StoveBurner     -2.096         0.890          0.785          0              0              0
  43  Cabinet         0.507          0.345          -0.426         0              0              0
  44  StoveBurner     -1.552         0.890          0.785          0              0              0
  45  SideTable       0.770          -0.030         0.443          0              0              0
  46  Sink            0.753          0.882          -0.680         0              0              0
  47  StoveBurner     -2.096         0.890          1.049          0              0              0
  48  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  49  StoveBurner     -1.554         0.890          1.049          0              0              0
  50  Cabinet         0.507          0.345          0.156          0              0              0
  51  Cabinet         0.717          1.822          -0.398         0              0              0
  52  Cabinet         0.717          1.822          0.669          0              0              0
  53  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  54  Toaster         -0.522         0.886          1.081          0              180            0
  55  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  56  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  58  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  60  Fridge          0.680          -0.031         -1.957         0              0              0
  61  Window          -2.424         1.639          -2.453         90             270            0
  62  Microwave       -1.994         0.690          -3.651         0              0              0
  63  SinkBasin       0.757          0.762          -0.688         0              270            0
  64  LightSwitch     1.102          1.368          -3.737         0              270            0
  65  Shelf           -0.350         0.124          0.857          0              0              0
  66  DiningTable     -0.350         -0.025         0.857          0              0              0
  67  DiningTable     -1.909         -0.032         -3.507         0              0              0
  68  Blinds          -2.343         2.151          -2.437         0              270            0
  69  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  70  AluminumFoil    0.751          0.225          0.287          0              0              0
  71  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  72  Shelf           0.771          0.226          0.445          0              0              0
  73  Shelf           0.771          0.456          0.446          0              0              0
  74  Faucet          1.025          0.873          -0.678         270            180            0
  75  Shelf           -0.350         0.497          0.857          0              0              0
  76  DiningTable     -1.929         -0.035         -1.398         0              90             0
  77  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn right and walk to the wall, then turn right and walk to the trash can | STEP 2: Pick up the green apple that is sitting on the white table above the trash can. The table that the microwave is sitting on | STEP 3: Take a right to walk forward, then a left to walk around the table, turn left to face the microwave | STEP 4: Open the microwave and place the apple on the plate inside and then close the door and turn it on. Then open the microwave and pick up the apple and close the door | STEP 5: Turn left and walk to the fridge, halfway across the room turn left and walk to the table that is to the right of the stove then turn right to face the black shelf that is to the left of the sink | STEP 6: Place the apple on the top shelf in the lower right corner | END