Task: Place a cooked apple 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           -1.0           0.901          1.0            0              90             0
   1  Potato          -0.314         0.926          3.334          0              0              0              78
   2  Potato          -2.888         1.212          4.649          0              90             0              72
   3  DishSponge      -1.083         1.773          0.114          0              0              0              52
   4  ButterKnife     -2.037         0.928          0.602          0              0              0              55
   5  ButterKnife     -2.377         0.662          0.409          0              0              0              63
   6  Spoon           -0.400         0.901          2.329          0              0              0              78
   7  Fork            -0.400         0.901          2.731          0              0              0              78
   8  Egg             -2.892         0.933          2.706          0              0              0              76
   9  Egg             -0.572         0.933          2.329          0              0              0              78
  10  Cup             -0.297         1.018          0.235          0              0              0              74
  11  Cup             -2.583         0.900          2.706          0              0              0              76
  12  Plate           -0.228         0.904          2.530          0              0              0              78
  13  Knife           -0.272         0.688          0.355          0              90             0              44
  14  SoapBottle      -3.022         0.935          3.302          0              90             0              62
  15  SoapBottle      -2.628         0.935          3.209          0              90             0              62
  16  Tomato          -0.657         0.964          2.932          0              0              0              78
  17  SaltShaker      -0.657         0.896          3.535          0              0              0              78
  18  SaltShaker      -0.858         1.769          0.160          0              0              0              52
  19  PepperShaker    -2.549         0.931          3.580          0              0              0              62
  20  Lettuce         -2.377         0.980          2.309          0              0              0              76
  21  Mug             -0.921         0.790          0.392          0              90             0              73
  22  Mug             -2.691         0.294          4.204          0              90             0              72
  23  Egg             -0.486         0.933          3.133          0              0              0              78
  24  Plate           -1.180         0.800          0.337          0              0              0              73
  25  Fork            -2.628         0.936          3.766          0              0              0              62
  26  Bread           -2.805         0.689          4.352          0              90             0              72
  27  Apple           -2.037         0.984          0.518          0              0              0              55
  28  Lettuce         -2.847         1.266          4.278          0              90             0              72
  29  Spatula         -2.161         0.677          0.355          0              90             0              63
  30  Knife           -2.789         0.926          2.045          0              0              0              76
  31  Potato          -0.191         1.049          0.171          0              0              0              74
  32  Tomato          -2.480         0.964          2.573          0              0              0              76
  33  Cup             -2.785         0.298          4.649          0              90             0              72
  34  SaltShaker      -2.686         0.896          2.177          0              0              0              76
  35  PepperShaker    -1.662         0.658          0.519          0              0              0              58
  36  ButterKnife     -0.572         0.900          3.133          0              0              0              78
  37  SoapBottle      -0.637         1.773          0.205          0              0              0              53
  38  Pan             -0.535         0.928          4.274          0              0              0              59
  39  DishSponge      -2.816         0.053          0.369          0              26.101         0              69
  40  Pot             -0.254         0.928          4.672          0              0              0              57
  41  Spoon           -1.878         0.663          0.409          0              0              0              58
  42  Mug             -2.764         1.181          4.501          0              90             0              72
  43  Bowl            -2.892         0.897          2.177          0              0              0              76
  44  Drawer          -0.325         0.696          0.413          0              0              0
  45  Cabinet         -0.595         0.490          0.648          0              0              0
  46  Cabinet         -0.555         0.490          0.646          0              0              0
  47  Cabinet         -1.591         0.490          0.646          0              0              0
  48  Cabinet         -1.554         0.490          0.646          0              0              0
  49  Cabinet         -2.550         0.490          0.646          0              0              0
  50  Cabinet         -1.514         2.046          0.392          0              0              0
  51  Cabinet         -2.474         2.046          0.392          0              0              0
  52  Cabinet         -1.478         2.046          0.392          0              0              0
  53  Cabinet         -0.518         2.046          0.392          0              0              0
  54  Cabinet         -0.479         2.046          0.392          0              0              0
  55  CounterTop      -1.366         0.952          0.349          0              0              0
  56  Sink            -1.108         0.926          0.340          0              0              0
  57  StoveBurner     -0.254         0.922          4.672          0              0              0
  58  Drawer          -1.824         0.696          0.413          0              0              0
  59  StoveBurner     -0.535         0.922          4.274          0              0              0
  60  StoveBurner     -0.254         0.922          4.274          0              0              0
  61  StoveBurner     -0.536         0.922          4.672          0              0              0
  62  CounterTop      -2.780         0.971          3.487          0              0              0
  63  Drawer          -2.323         0.696          0.413          0              0              0
  64  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  67  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  68  Toaster         -0.286         0.861          3.520          0              270            0
  69  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  70  LightSwitch     -0.064         1.447          1.996          0              270            0
  71  Window          -3.075         1.593          1.361          90             90             0
  72  Fridge          -2.802         0.0            4.427          0              0              0
  73  SinkBasin       -1.106         0.785          0.337          0              0              0
  74  Microwave       -0.358         0.917          0.224          0              0              0
  75  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  76  DiningTable     -2.733         -0.003         2.607          0              270            0
  77  Faucet          -1.077         0.920          0.028          270            270            0
  78  DiningTable     -0.488         -0.003         3.182          0              270            0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn around and walk to the counter top on your left | STEP 2: Pick up the apple that is on the counter top | STEP 3: Turn left and walk to the microwave that is on your left | STEP 4: Open the microwave and place the apple on the plate to the right of the glass then close the microwave and turn it on | STEP 5: Open the microwave and pick up the apple, then close the microwave | STEP 6: Turn around and walk to the table that is on your right. Place the apple on the table on the right side of the tomato | END