Task: Put a pot with a piece of apple in it on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.25          0              0              0
   1  Kettle          1.781          0.913          -1.489         0              0              0              49
   2  Potato          -0.544         0.942          -1.406         0              0              0              49
   3  Pot             1.007          0.962          0.561          0              270            0              51
   4  Fork            0.753          0.920          -1.516         0              270            0              47
   5  Fork            0.960          0.920          -1.649         0              90             0              47
   6  Egg             -0.362         0.105          0.655          0              90             0              78
   7  Egg             1.724          0.947          0.292          0              0              0              64
   8  Plate           1.658          0.913          -1.737         0              0              0              49
   9  SoapBottle      0.960          0.918          -1.516         0              270            0              47
  10  Tomato          -2.397         0.829          -1.806         0              0              0              79
  11  Tomato          -0.096         0.961          0.458          0              0              0              48
  12  SaltShaker      0.167          0.908          0.540          0              0              0              48
  13  SaltShaker      -0.682         0.107          -1.619         0              0              0              63
  14  PepperShaker    1.608          1.325          -1.772         0              180            0              65
  15  PepperShaker    1.907          0.908          0.209          0              0              0              64
  16  Lettuce         1.785          1.002          0.458          0              0              0              64
  17  Lettuce         -2.222         0.601          -1.763         0              0              0              79
  18  Mug             -0.872         1.010          -1.704         0              0              0              71
  19  Apple           -2.135         1.118          -1.720         0              0              0              79
  20  Bread           1.299          0.978          -1.532         0              0              0              49
  21  Knife           -0.267         0.937          -1.489         0              0              0              49
  22  Fork            0.804          0.920          -1.449         0              0              0              47
  23  Bowl            0.445          0.109          0.308          0              0              0              60
  24  Kettle          -0.147         0.111          -1.508         0              0              0              58
  25  Cup             0.394          0.107          -1.509         0              180            0              46
  26  Tomato          0.701          0.968          -1.649         0              270            0              47
  27  SoapBottle      -0.427         0.068          0.482          0              90             0              78
  28  Plate           -0.110         0.900          -1.596         0              0              0              49
  29  Pot             1.361          0.962          0.561          0              270            0              54
  30  Spatula         1.907          0.927          0.623          0              270            0              64
  31  PaperTowelRoll  1.601          1.016          0.540          0              0              0              64
  32  Egg             -0.394         0.105          0.569          0              90             0              78
  33  Lettuce         -2.135         0.871          -1.763         0              0              0              79
  34  SaltShaker      1.663          0.908          0.540          0              0              0              64
  35  PepperShaker    0.564          0.908          0.292          0              0              0              48
  36  Apple           -2.397         1.559          -1.763         0              0              0              79
  37  ButterKnife     0.804          0.919          -1.715         0              180            0              47
  38  Potato          0.377          0.806          -1.745         0              270            0              72
  39  Pan             1.022          0.959          0.288          0              219.190        0              61
  40  DishSponge      1.724          0.911          0.706          0              0              0              64
  41  Spoon           -0.359         0.913          -1.820         0              0              0              49
  42  Mug             -1.027         1.010          -1.737         0              0              0              71
  43  Cabinet         -0.193         1.688          -1.648         0              180            0
  44  StoveBurner     1.360          0.957          0.293          0              180            0
  45  Drawer          0.499          0.792          0.296          0              0              0
  46  Cabinet         0.095          0.400          -1.352         0              180            0
  47  Sink            0.711          0.817          -1.772         0              270            0
  48  CounterTop      0.280          0.947          0.458          0              0              0
  49  CounterTop      -0.680         0.947          -1.654         0              0              0
  50  Drawer          1.825          0.792          0.296          0              0              0
  51  StoveBurner     1.007          0.957          0.561          0              270            0
  52  Drawer          -0.150         0.792          -1.496         0              0              0
  53  Drawer          -0.586         0.792          -1.496         0              0              0
  54  StoveBurner     1.360          0.957          0.561          0              270            0
  55  Drawer          0.024          0.792          0.296          0              0              0
  56  Cabinet         1.079          0.400          -1.349         0              180            0
  57  Cabinet         1.669          0.402          0.151          0              0              0
  58  Cabinet         0.055          0.402          -1.351         0              0              0
  59  Cabinet         -0.180         0.402          0.151          0              0              0
  60  Cabinet         0.729          0.402          0.151          0              0              0
  61  StoveBurner     1.007          0.957          0.293          0              180            0
  62  Drawer          -1.100         0.792          -1.496         0              0              0
  63  Cabinet         -0.396         0.402          -1.351         0              0              0
  64  CounterTop      1.776          0.947          0.458          0              0              0
  65  Cabinet         1.974          1.688          -1.648         0              180            0
  66  Cabinet         -0.820         0.400          -1.349         0              180            0
  67  Toaster         0.305          0.900          0.552          0              180            0
  68  LightSwitch     -2.756         1.307          -0.987         0              90             0
  69  Window          0.582          1.613          -1.967         90             0              0
  70  Window          1.969          1.5            -0.615         90             270            0
  71  Microwave       -1.037         0.900          -1.723         0              0              0
  72  SinkBasin       0.377          0.765          -1.655         0              270            0
  73  CoffeeMachine   0.618          0.900          0.600          0              180            0
  74  StoveKnob       1.246          0.913          0.118          45             180            0
  75  StoveKnob       1.373          0.913          0.118          45             180            0
  76  StoveKnob       0.995          0.913          0.118          45             180            0
  77  StoveKnob       1.126          0.913          0.118          45             180            0
  78  GarbageCan      -0.368         -0.029         0.539          0              90             0
  79  Fridge          -2.134         0.0            -1.690         0              0              0
  80  Faucet          0.549          1.046          -1.833         0              232.527        0
  81  Stool           -1.475         0.000          0.414          1.233          280.375        0
  82  DiningTable     -2.255         -0.004         0.432          0              0              0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn right, go forward, turn right before reaching the sink, go to the counter to the right of the sink. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward to the wall, turn left to the fridge. | STEP 4: Cut the apple on the top shelf of the fridge into pieces. | STEP 5: Turn around, go forward to the white table. | STEP 6: Put the knife on the table. | STEP 7: Turn around, go to the fridge. | STEP 8: Take a piece of apple from the fridge. | STEP 9: Turn left, go forward, turn left at the oven, go to the oven. | STEP 10: Put the apple in the pot on the right of the stove top. | STEP 11: Take the pot from the stove top. | STEP 12: Turn left, go forward to the door, turn right to the table. | STEP 13: Put the pot on the right side of the table. | END