Task: put a plate with a piece of an apple in it on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.901          -2.5           0              180            0
   1  Potato          -1.058         0.957          -3.878         0              0              0              37
   2  Potato          -3.234         1.442          -1.941         0              90             0              78
   3  Spoon           -0.257         0.917          -1.616         0              0              0              64
   4  Spoon           -2.620         0.718          -0.339         0              315            0              81
   5  Fork            -0.328         0.914          -3.012         0              90             0              37
   6  Fork            -0.447         0.914          -3.952         0              0              0              37
   7  Cup             -3.182         1.399          -2.125         0              90             0              78
   8  Cup             -3.182         0.641          -2.125         0              90             0              78
   9  Plate           -3.309         0.911          -3.227         0              0              0              37
  10  Knife           -1.780         0.946          -3.519         0              0              0              37
  11  Bowl            -2.652         0.714          -0.886         0              135            0              81
  12  Bowl            -0.413         0.078          -0.838         0              0              0              41
  13  SaltShaker      -2.934         0.713          -0.829         0              225            0              81
  14  PepperShaker    -0.169         1.290          -1.656         0              0              0              43
  15  Bread           -3.155         0.754          -0.608         0              225            0              81
  16  Pot             -0.376         0.975          -2.031         0              180            0              66
  17  Egg             -0.127         1.048          -0.950         0              270            0              74
  18  Cup             -0.412         0.914          -3.012         0              0              0              37
  19  Bread           -0.327         0.948          -3.681         0              298.222        0              37
  20  Fork            -3.292         0.714          -0.370         0              270            0              81
  21  Pan             -0.376         0.975          -2.451         0              0              0              62
  22  Potato          -2.723         0.760          -0.621         0              270            0              81
  23  Lettuce         -3.167         1.001          -3.804         0              0              0              37
  24  Tomato          -0.284         0.129          -0.030         0              270            0              76
  25  Apple           -0.158         1.055          -0.752         0              270            0              74
  26  SoapBottle      -2.897         0.713          -0.729         0              135            0              81
  27  Spatula         -0.039         0.928          -3.655         0              270            0              37
  28  SaltShaker      -2.803         0.710          -0.211         0              0              0              81
  29  Knife           -0.257         0.948          -1.493         0              0              0              64
  30  PepperShaker    -1.666         0.910          -4.046         0              0              0              37
  31  ButterKnife     -0.419         0.916          -0.490         0              0              0              64
  32  Plate           -0.650         0.911          -3.952         0              0              0              37
  33  DishSponge      -3.393         0.913          -3.428         0              0              0              37
  34  Spoon           -2.519         0.718          -0.753         0              135            0              81
  35  Mug             0.007          0.908          -3.112         0              0              0              37
  36  Bowl            -3.182         0.638          -1.879         0              90             0              78
  37  CounterTop      -1.789         0.949          -3.803         0              0              0
  38  Cabinet         -0.577         0.388          -3.476         0              0              0
  39  Cabinet         -0.605         0.388          -3.511         0              0              0
  40  Cabinet         -2.976         0.388          -3.201         0              0              0
  41  Cabinet         -0.577         0.388          -0.447         0              0              0
  42  Cabinet         -0.577         0.388          -1.725         0              0              0
  43  Cabinet         -0.226         1.803          -1.743         0              0              0
  44  Cabinet         -0.228         1.799          -0.447         0              0              0
  45  Cabinet         -6.010         1.139          -6.019         0              0              0
  46  Cabinet         -3.022         2.098          -2.681         0              0              0
  47  Cabinet         -3.022         2.098          -1.743         0              0              0
  48  Cabinet         -0.577         0.388          -2.736         0              0              0
  49  Cabinet         -3.232         1.803          -3.343         0              0              0
  50  Cabinet         -2.811         1.810          -3.764         0              0              0
  51  Cabinet         -1.233         1.810          -3.764         0              0              0
  52  Cabinet         -1.364         0.388          -3.511         0              0              0
  53  Cabinet         -1.380         0.388          -3.511         0              0              0
  54  Cabinet         -0.226         1.803          -2.725         0              0              0
  55  Cabinet         -0.236         2.098          -1.767         0              0              0
  56  Cabinet         -0.236         2.098          -2.705         0              0              0
  57  Cabinet         -0.193         1.210          -4.239         0              0              0
  58  Cabinet         -2.148         0.388          -3.511         0              0              0
  59  Drawer          -3.104         0.797          -2.968         0              0              0
  60  Drawer          -0.449         0.797          -1.410         0              0              0
  61  Sink            -1.786         0.902          -3.748         0              0              0
  62  StoveBurner     -0.376         0.936          -2.451         0              0              0
  63  Drawer          -0.449         0.797          -0.762         0              0              0
  64  CounterTop      -0.268         0.951          -1.089         0              0              0
  65  Drawer          -0.449         0.797          -3.348         0              0              0
  66  StoveBurner     -0.376         0.936          -2.031         0              180            0
  67  Drawer          -0.449         0.797          -2.968         0              0              0
  68  StoveBurner     -0.165         0.936          -2.030         0              180            0
  69  StoveBurner     -0.165         0.936          -2.450         0              0              0
  70  StoveKnob       -0.568         0.903          -2.313         45             270            0
  71  StoveKnob       -0.568         0.903          -2.470         45             270            0
  72  StoveKnob       -0.568         0.903          -2.166         45             270            0
  73  StoveKnob       -0.568         0.903          -2.003         45             270            0
  74  Microwave       -0.143         0.903          -0.908         0              270            0
  75  LightSwitch     -1.108         1.457          0.338          0              180            0
  76  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  77  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  78  Fridge          -3.188         0.0            -2.184         0              0              0
  79  SinkBasin       -1.786         0.779          -3.747         0              0              0
  80  Toaster         -0.230         0.903          -3.406         0              270            0
  81  DiningTable     -2.800         0.003          -0.505         0              0              0
  82  Chair           -3.044         0.003          -1.223         0              32.194         0
  83  Faucet          -1.791         1.136          -3.913         0              270            0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: turn around to the left go right towards the counter | STEP 2: pick up the knife from the counter | STEP 3: turn to the left go right towards the microwave | STEP 4: open the microwave cut the apple into pieces | STEP 5: open back up the microwave door put the knife inside of it  | STEP 6: close the door open back up get once piece of apple out | STEP 7: turn to the right | STEP 8: turn to the right | STEP 9: turn to the left go right go forward towards the counter | STEP 10: put the apple on a plate that is on the counter | STEP 11: pick up the plate from the counter | STEP 12: turn around to the left go right to the left go forward to the brown table | STEP 13: put the plate on top of the table | END