Task: Put a cooked apple 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          2.75           0              180            0
   1  DishSponge      -2.480         0.900          2.177          0              0              0              71
   2  DishSponge      -1.138         1.773          0.114          0              0              0              47
   3  ButterKnife     -2.706         0.935          3.209          0              0              0              57
   4  Egg             -0.456         1.056          0.203          0              0              0              69
   5  Egg             -0.400         0.933          3.133          0              0              0              73
   6  Cup             -0.657         0.900          3.535          0              0              0              73
   7  Cup             -1.801         1.773          0.251          0              0              0              46
   8  Plate           -2.805         1.190          4.352          0              90             0              67
   9  Plate           -0.194         1.777          0.160          0              0              0              49
  10  Knife           -2.170         0.953          0.518          0              180            0              50
  11  SoapBottle      -0.400         0.900          2.530          0              0              0              73
  12  Bowl            -2.878         0.295          4.501          0              90             0              67
  13  PepperShaker    -0.487         0.658          0.573          0              0              0              39
  14  PepperShaker    -0.218         0.658          0.464          0              0              0              39
  15  Bread           -0.228         0.957          2.329          0              0              0              73
  16  Bread           -2.480         0.957          2.441          0              0              0              71
  17  Mug             -2.549         0.930          3.673          0              0              0              57
  18  Egg             -2.738         0.332          4.649          0              90             0              Floor|-00.05|
  19  Plate           -0.747         1.777          0.205          0              0              0              48
  20  Fork            -2.583         0.901          2.177          0              0              0              71
  21  Bread           -2.864         0.940          1.983          0              0              0              71
  22  Apple           -0.143         0.956          2.932          0              0              0              73
  23  Lettuce         -2.785         0.378          4.278          0              90             0              67
  24  Spatula         -2.686         0.915          2.573          0              0              0              71
  25  Knife           -1.662         0.688          0.355          0              90             0              53
  26  Potato          -2.377         0.926          2.177          0              0              0              71
  27  Tomato          -2.691         0.362          4.501          0              90             0              67
  28  Cup             -2.888         0.632          4.204          0              90             0              67
  29  SaltShaker      -1.932         0.658          0.300          0              0              0              53
  30  PepperShaker    -0.400         0.896          2.932          0              0              0              73
  31  ButterKnife     -2.480         0.900          1.913          0              0              0              71
  32  SoapBottle      -0.657         0.900          2.731          0              0              0              73
  33  Pan             -0.254         0.928          4.672          0              0              0              52
  34  DishSponge      -1.911         1.773          0.114          0              0              0              45
  35  Pot             -0.535         0.928          4.274          0              0              0              54
  36  Spoon           -1.007         0.797          0.337          0              0              0              68
  37  Mug             -0.244         1.013          0.203          0              0              0              69
  38  Bowl            -2.037         0.924          0.348          0              0              0              50
  39  Drawer          -0.325         0.696          0.413          0              0              0
  40  Cabinet         -0.595         0.490          0.648          0              0              0
  41  Cabinet         -0.555         0.490          0.646          0              0              0
  42  Cabinet         -1.591         0.490          0.646          0              0              0
  43  Cabinet         -1.554         0.490          0.646          0              0              0
  44  Cabinet         -2.550         0.490          0.646          0              0              0
  45  Cabinet         -1.514         2.046          0.392          0              0              0
  46  Cabinet         -2.474         2.046          0.392          0              0              0
  47  Cabinet         -1.478         2.046          0.392          0              0              0
  48  Cabinet         -0.518         2.046          0.392          0              0              0
  49  Cabinet         -0.479         2.046          0.392          0              0              0
  50  CounterTop      -1.366         0.952          0.349          0              0              0
  51  Sink            -1.108         0.926          0.340          0              0              0
  52  StoveBurner     -0.254         0.922          4.672          0              0              0
  53  Drawer          -1.824         0.696          0.413          0              0              0
  54  StoveBurner     -0.535         0.922          4.274          0              0              0
  55  StoveBurner     -0.254         0.922          4.274          0              0              0
  56  StoveBurner     -0.536         0.922          4.672          0              0              0
  57  CounterTop      -2.780         0.971          3.487          0              0              0
  58  Drawer          -2.323         0.696          0.413          0              0              0
  59  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  60  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  63  Toaster         -0.286         0.861          3.520          0              270            0
  64  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  65  LightSwitch     -0.064         1.447          1.996          0              270            0
  66  Window          -3.075         1.593          1.361          90             90             0
  67  Fridge          -2.802         0.0            4.427          0              0              0
  68  SinkBasin       -1.106         0.785          0.337          0              0              0
  69  Microwave       -0.358         0.917          0.224          0              0              0
  70  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  71  DiningTable     -2.733         -0.003         2.607          0              270            0
  72  Faucet          -1.077         0.920          0.028          270            270            0
  73  DiningTable     -0.488         -0.003         3.182          0              270            0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Turn around, will forward, then turn right to face the table. | STEP 2: Pick up the apple from the table. | STEP 3: Turn right, move forward, turn left, then move forward and to approach the microwave. | STEP 4: Cook the apple in the microwave. | STEP 5: Turn right, move forward, turn right, move forward, then turn right into approach the table. | STEP 6: Place the apple on the table, in front of the pepper and to the right of the soap. | END