Task: Put 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           -1.25          0.900          -2.25          0              270            0
   1  Potato          -2.761         0.926          -0.376         0              270            0              68
   2  Potato          -2.560         0.926          -0.290         0              270            0              68
   3  DishSponge      -3.364         0.894          -0.376         0              270            0              68
   4  ButterKnife     -1.025         0.942          -3.764         0              45             0              31
   5  Spoon           -3.163         0.895          -0.204         0              270            0              68
   6  Spatula         -3.565         0.909          -0.462         0              270            0              68
   7  SoapBottle      -3.565         0.892          -0.376         0              270            0              68
   8  SoapBottle      -3.839         0.758          -3.570         0              199.125        0              67
   9  Tomato          -3.789         0.810          -3.403         0              334.125        0              67
  10  SoapBottle      -3.882         0.689          -0.187         0              0              0              66
  11  Pot             -0.222         0.961          -1.845         0              180            0              33
  12  Fork            -0.577         0.751          -2.685         0              90             0              36
  13  Cup             -0.324         1.504          -3.498         0              45             0              43
  14  Tomato          -3.942         0.741          -0.430         0              0              0              66
  15  Pan             -0.222         0.961          -2.243         0              0              0              50
  16  Plate           -0.473         0.956          -2.611         0              0              0              31
  17  Bread           -3.954         0.841          -3.337         0              109.125        0              67
  18  Spatula         -0.740         0.828          -3.588         0              45             0              60
  19  Knife           -0.624         0.839          -3.473         0              45             0              60
  20  SaltShaker      -0.627         1.500          -3.637         0              45             0              43
  21  PepperShaker    -0.126         1.935          -1.897         0              0              0              40
  22  ButterKnife     -3.565         0.894          -0.290         0              270            0              68
  23  Apple           -3.654         0.821          -3.798         0              199.125        0              67
  24  DishSponge      -1.123         0.752          -3.534         0              0              0              37
  25  Potato          -4.062         0.722          -0.126         0              0              0              66
  26  Egg             -3.364         0.935          -0.290         0              270            0              68
  27  Spoon           -3.942         0.691          -0.248         0              0              0              66
  28  Lettuce         -2.359         0.985          -0.204         0              270            0              68
  29  Mug             -0.201         1.570          -2.096         0              270            0              63
  30  Bowl            -3.163         0.892          -0.462         0              270            0              68
  31  CounterTop      -1.937         0.977          -3.673         0              0              0
  32  StoveBurner     -0.437         0.924          -1.845         0              180            0
  33  StoveBurner     -0.222         0.924          -1.845         0              180            0
  34  StoveBurner     -0.437         0.924          -2.243         0              0              0
  35  Drawer          -0.500         0.779          -1.450         0              0              0
  36  Drawer          -0.481         0.777          -2.739         0              0              0
  37  Drawer          -1.154         0.782          -3.499         0              0              0
  38  Cabinet         -0.337         2.110          -0.390         0              0              0
  39  Cabinet         -0.337         2.110          -1.272         0              0              0
  40  Cabinet         -0.337         2.110          -1.631         0              0              0
  41  Cabinet         -0.337         2.110          -2.497         0              0              0
  42  Cabinet         -0.337         1.891          -1.286         0              0              0
  43  Cabinet         -0.346         1.891          -3.293         0              0              0
  44  Cabinet         -0.629         0.388          -2.513         0              0              0
  45  Cabinet         -0.633         0.388          -3.008         0              0              0
  46  Cabinet         -1.010         0.388          -3.368         0              0              0
  47  Cabinet         -0.629         0.388          -1.614         0              0              0
  48  Cabinet         -0.327         1.886          -2.513         0              0              0
  49  CounterTop      -0.326         0.976          -1.450         0              0              0
  50  StoveBurner     -0.222         0.924          -2.243         0              0              0
  51  Sink            -0.600         0.929          -3.388         0              0              0
  52  StoveKnob       -0.617         0.899          -1.833         315            90             180
  53  StoveKnob       -0.617         0.899          -2.129         315            90             180
  54  StoveKnob       -0.617         0.899          -2.289         315            90             180
  55  StoveKnob       -0.617         0.899          -1.975         315            90             180
  56  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  57  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  58  Window          -1.389         1.610          -4.113         90             0              0
  59  LightSwitch     -4.372         1.493          -1.031         0              90             0
  60  SinkBasin       -0.614         0.802          -3.384         0              315            0
  61  Fridge          -0.314         0.0            -0.646         0              0              0
  62  Toaster         -1.970         0.930          -3.763         0              0              0
  63  Microwave       -0.216         1.470          -2.054         0              270            0
  64  Blinds          -1.373         2.205          -3.961         0              0              0
  65  Faucet          -0.393         0.930          -3.614         270            225            0
  66  SideTable       -4.030         0.002          -0.301         0              185.034        0
  67  DiningTable     -3.586         0.000          -3.258         0              0              0
  68  DiningTable     -3.224         -0.003         -0.453         0              0              0
  69  Shelf           -4.030         0.259          -0.301         0              185.034        0
  70  Shelf           -4.030         0.489          -0.301         0              185.034        0
  71  EastWall
  72  EastWall
  73  SouthWall

Plan:
STEP 1: Turn around, go forward, hang a right and go to the sink.  | STEP 2: Pick up the yellow handled knife that is in the sink.  | STEP 3: Turn around, go to the stove and hang a left, go to the wall, hang a left, go forward to the round table. | STEP 4: Use the knife to cut the apple at the back of the round table.  | STEP 5: Back up, turn around, go forward, turn to the right and go forward to the microwave.  | STEP 6: Open the microwave, put the knife inside, close the microwave.  | STEP 7: Turn around, go to the door, turn to the left and go to the round table.  | STEP 8: Pick up a piece of the apple that has been cut from the table.  | STEP 9: Back up, turn around, go forward, turn to the right and go forward to the microwave.  | STEP 10: Put the apple in the microwave, turn it on to cook, remove the apple when it is done cooking.  | STEP 11: Back up, turn around, go to the door, turn to the right and go to the small black table. | STEP 12: Put the apple on the table to the left of the tomato.  | END