Task: place microwaved apple on table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.900          -3.5           0              90             0
   1  Pen             -2.210         0.926          -1.654         0              0              0              75
   2  Potato          -0.365         0.947          -3.368         0              0              0              50
   3  Potato          -0.254         0.828          -1.860         0              270            0              68
   4  ButterKnife     -2.438         0.923          -2.345         0              0              0              75
   5  ButterKnife     -2.666         0.923          -1.423         0              0              0              75
   6  WineBottle      -0.344         0.082          -2.155         0              0              0              55
   7  Fork            -2.552         0.924          -0.963         0              0              0              75
   8  Knife           -2.324         0.946          -0.963         0              0              0              75
   9  Cup             -0.343         1.389          -0.455         0              270            0              67
  10  Cup             -2.438         0.922          -0.963         0              0              0              75
  11  Egg             -0.254         0.830          -2.008         0              270            0              68
  12  Egg             -2.780         0.956          -1.654         0              0              0              75
  13  Bowl            -0.348         1.689          -0.874         0              270            0              67
  14  Bowl            -2.552         0.922          -1.423         0              0              0              75
  15  Lettuce         -0.392         1.191          -0.874         0              270            0              67
  16  PepperShaker    -0.778         0.743          -3.527         0              0              0              49
  17  Apple           -0.528         0.989          -3.909         0              0              0              50
  18  Apple           -2.438         0.996          -1.193         0              0              0              75
  19  Apple           -2.666         0.996          -2.115         0              0              0              75
  20  Apple           -1.975         0.100          -3.727         0              0              0              66
  21  Lettuce         -2.562         1.002          -1.677         36.385         0              0              75
  22  Glassbottle     -0.254         0.797          -2.155         0              270            0              68
  23  Egg             -0.222         0.948          -3.570         0              0              0              50
  24  Pen             -2.096         0.926          -2.115         0              0              0              75
  25  Fork            -0.302         0.797          -1.934         0              0              0              68
  26  SoapBottle      -0.162         1.526          -3.230         0              0              0              62
  27  Pencil          -2.666         0.923          -1.193         0              0              0              75
  28  WineBottle      -2.324         0.924          -2.115         0              0              0              75
  29  Spatula         -0.350         0.812          -2.008         0              270            0              68
  30  Bread           -0.343         1.151          -0.560         0              270            0              67
  31  Tomato          -2.324         0.987          -1.423         0              0              0              75
  32  Pan             -2.174         0.913          -1.099         0              0              0              75
  33  Cup             -0.778         0.081          -3.545         0              0              0              56
  34  Pot             -1.129         0.935          -3.498         0              0              0              48
  35  SaltShaker      -0.365         0.912          -2.563         0              0              0              50
  36  Potato          -1.881         0.058          -3.799         0              90             0              66
  37  PepperShaker    -0.302         1.527          -3.699         0              45             0              58
  38  ButterKnife     -2.438         0.923          -1.654         0              0              0              75
  39  DishSponge      -1.153         1.969          -3.812         0              0              0              51
  40  Spoon           -2.324         0.924          -1.193         0              0              0              75
  41  Plate           -0.457         0.918          -3.626         0              0              0              50
  42  Knife           -2.324         0.946          -1.884         0              0              0              75
  43  Mug             -0.351         0.962          -3.144         0              270            0              64
  44  Bowl            -0.295         1.389          -0.770         0              270            0              67
  45  Cabinet         -0.582         0.388          -1.804         0              0              0
  46  StoveBurner     -1.515         0.928          -3.752         0              90             0
  47  StoveBurner     -1.515         0.928          -3.497         0              0              0
  48  StoveBurner     -1.129         0.928          -3.498         0              0              0
  49  Drawer          -0.749         0.779          -3.551         0              0              0
  50  CounterTop      -0.303         0.951          -2.793         0              0              0
  51  Cabinet         -0.883         2.140          -3.687         0              0              0
  52  Cabinet         -0.312         2.140          -1.543         0              0              0
  53  Sink            -0.349         0.907          -2.014         0              0              0
  54  Cabinet         -0.877         0.388          -3.422         0              0              0
  55  Cabinet         -0.582         0.388          -2.197         0              0              0
  56  Cabinet         -0.584         0.388          -3.396         0              0              0
  57  Cabinet         -0.312         2.140          -2.481         0              0              0
  58  Cabinet         -0.330         1.921          -3.390         0              0              0
  59  Cabinet         -1.764         2.140          -3.687         0              0              0
  60  StoveBurner     -1.129         0.928          -3.752         0              90             0
  61  Drawer          -0.454         0.779          -3.268         0              0              0
  62  Cabinet         -0.302         1.916          -2.501         0              0              0
  63  Microwave       -1.317         1.517          -3.801         0              1.440          0
  64  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  65  LightSwitch     -4.323         1.319          0.0            0              180            0
  66  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  67  Fridge          -0.330         0.0            -0.769         0              270            0
  68  SinkBasin       -0.350         0.786          -2.018         0              270            0
  69  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  70  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  71  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  72  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  73  Toaster         -0.181         0.903          -2.764         0              270            0
  74  Window          -2.503         1.782          -4.185         90             180            0
  75  DiningTable     -2.432         0.000          -1.694         0              270            0
  76  Shelf           -2.432         0.150          -1.694         0              270            0
  77  Blinds          -2.536         2.699          -3.959         0              0              0
  78  Faucet          -0.079         0.904          -2.034         270            180            0
  79  Chair           -3.264         0.002          -2.094         0              53.280         0
  80  Chair           -3.240         0.002          -1.253         0              117.257        0
  81  Shelf           -2.432         0.523          -1.694         0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: go forward to counter to the left of stove with utensil holder | STEP 2: pick up apple from counter to the left of utensil holder | STEP 3: go to microwave above stove to the right | STEP 4:  put apple in microwave, close microwave, microwave apple, remove apple from microwave, close microwave | STEP 5: turn around, go to right side of green top table | STEP 6: place apple in front of two yellow handle knife in between green bottle and knife on the right | END