Task: Put a cooked piece of apple on the top shelf of the white three tier table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.908          2.0            0              180            0
   1  SprayBottle     -0.694         1.655          -0.786         0              0              0              49
   2  DishSponge      1.444          0.911          0.422          0              0              0              64
   3  Glassbottle     1.301          0.086          1.472          0              0              0              85
   4  Kettle          0.209          0.117          -0.490         0              0              0              59
   5  Kettle          0.802          0.939          -0.473         0              0              0              72
   6  Fork            1.117          0.886          2.261          0              0              0              96
   7  Pot             -1.206         0.751          0.883          0              90             0              84
   8  Egg             -1.263         1.035          0.150          0              90             0              90
   9  Cup             1.286          0.910          -0.428         0              0              0              64
  10  Cup             1.049          0.910          -0.144         0              0              0              64
  11  Knife           -0.130         0.934          -0.359         0              0              0              70
  12  Knife           1.444          0.933          -0.428         0              90             0              64
  13  Bowl            1.286          0.909          -0.144         0              0              0              64
  14  Bread           1.284          0.949          2.261          0              0              0              96
  15  Lettuce         -1.197         0.819          2.459          0              0              0              45
  16  SaltShaker      0.927          2.151          -0.724         0              0              0              48
  17  SaltShaker      -1.475         0.745          1.902          0              0              0              45
  18  Apple           -1.092         0.811          0.673          0              90             0              84
  19  Bread           1.207          0.974          0.706          0              0              0              64
  20  Glassbottle     0.103          0.759          -0.651         0              0              0              91
  21  Fork            -1.105         0.749          2.644          0              0              0              45
  22  Kettle          -1.357         0.739          3.024          0              240.000        0              45
  23  Tomato          -1.149         1.470          1.092          0              90             0              84
  24  Plate           -1.012         0.750          3.015          0              0              0              45
  25  CellPhone       1.128          0.909          0.422          0              0              0              64
  26  Lettuce         -1.012         0.819          2.087          0              0              0              45
  27  Pot             0.502          0.939          -0.740         0              90             0              71
  28  SoapBottle      1.356          2.158          0.642          0              0              0              55
  29  WineBottle      -1.286         0.913          -0.392         0              0              0              70
  30  Spatula         -0.919         0.763          2.087          0              90             0              45
  31  Bowl            1.286          0.909          0.139          0              0              0              64
  32  Apple           1.189          0.146          1.440          0              0              0              85
  33  Cup             -1.361         1.014          -0.005         0              90             0              90
  34  Knife           -1.105         0.770          2.087          0              0              0              45
  35  Egg             -1.320         1.455          0.987          0              90             0              84
  36  SaltShaker      1.284          0.882          2.800          0              0              0              96
  37  PepperShaker    -1.263         2.149          0.981          0              0              0              63
  38  Potato          1.200          0.931          2.477          0              0              0              96
  39  ButterKnife     -1.197         0.749          2.830          0              0              0              45
  40  DishSponge      -1.012         0.748          2.459          0              0              0              45
  41  Pan             -1.332         0.9            -0.699         0              345.0          0              70
  42  Spoon           -0.919         0.750          1.902          0              0              0              45
  43  SprayBottle     -0.919         0.749          2.830          0              0              0              45
  44  Mug             -0.082         0.753          -0.533         0              0              0              91
  45  DiningTable     -1.182         0.006          2.414          0              90             0
  46  Cabinet         1.184          2.059          0.375          0              0              0
  47  Cabinet         1.184          2.059          -0.635         0              0              0
  48  Cabinet         0.591          2.309          -0.645         0              0              0
  49  Cabinet         -0.574         2.059          -0.644         0              0              0
  50  Cabinet         -1.103         2.059          -0.644         0              0              0
  51  Cabinet         -1.185         2.059          -0.331         0              0              0
  52  Cabinet         -1.185         2.059          -0.281         0              0              0
  53  Cabinet         -1.185         2.059          0.375          0              0              0
  54  Cabinet         1.184          2.309          1.174          0              0              0
  55  Cabinet         1.184          2.309          0.424          0              0              0
  56  Cabinet         0.988          0.402          0.581          0              0              0
  57  Cabinet         0.988          0.402          0.531          0              0              0
  58  Cabinet         0.988          0.402          -0.178         0              0              0
  59  Cabinet         0.335          0.402          -0.348         0              0              0
  60  Cabinet         -0.374         0.402          -0.348         0              0              0
  61  Cabinet         0.988          0.402          1.231          0              0              0
  62  Cabinet         -1.185         2.309          1.374          0              0              0
  63  Cabinet         -1.185         2.309          0.424          0              0              0
  64  CounterTop      1.274          0.947          0.064          0              0              0
  65  Drawer          1.116          0.792          -0.015         0              0              0
  66  Drawer          -1.116         0.792          0.210          0              180            0
  67  Cabinet         -0.990         0.402          0.374          0              180            0
  68  Drawer          -1.116         0.792          -0.170         0              180            0
  69  Cabinet         -0.990         0.402          -0.335         0              180            0
  70  CounterTop      -1.001         0.947          -0.669         0              0              0
  71  StoveBurner     0.502          0.932          -0.740         0              90             0
  72  StoveBurner     0.801          0.932          -0.473         0              0              0
  73  StoveBurner     0.801          0.932          -0.740         0              90             0
  74  Drawer          1.116          0.792          1.081          0              0              0
  75  Sink            -0.013         0.912          -0.615         0              0              0
  76  Drawer          1.116          0.792          0.732          0              0              0
  77  StoveBurner     0.502          0.932          -0.469         0              0              0
  78  Drawer          1.116          0.792          0.367          0              0              0
  79  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  80  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  81  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  82  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  83  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  84  Fridge          -1.300         0.008          0.987          0              90             0
  85  GarbageCan      1.296          -0.024         1.465          0              0              0
  86  Window          -0.012         1.641          -0.972         90             0              0
  87  Window          1.598          1.646          2.489          90             270            0
  88  Toaster         1.356          0.900          1.044          0              270            0
  89  LightSwitch     0.118          1.353          3.799          0              180            0
  90  Microwave       -1.343         0.900          0.053          0              90             0
  91  SinkBasin       -0.029         0.748          -0.612         0              0              0
  92  Faucet          -0.026         0.927          -0.808         0              0              0
  93  Shelf           -1.182         0.127          2.414          0              90             0
  94  Stool           1.140          0.007          3.262          1.206          20.753         0
  95  Shelf           -1.182         0.435          2.414          0              90             0
  96  DiningTable     1.169          0.014          2.569          0              0              1.896
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Head straight to the sink. | STEP 2: Pick up the knife in front of the sink. | STEP 3: Turn around and head to the fridge on your left. | STEP 4: Open the fridge and cut up the apple on the top shelf. | STEP 5: Turn left and head back to the sink. | STEP 6: Put the knife on the counter to the right of the sink. | STEP 7: Turn around and head back to the fridge on your left. | STEP 8: Take a piece of apple out of the fridge. | STEP 9: Move to the microwave on your left. | STEP 10: Put the apple in the microwave in front of the cup and warm it up for a few seconds and then remove it again. | STEP 11: Turn right and move to the white three tier table on your left. | STEP 12: Put the apple on t he table in front of the green sponge. | END