Task: Putting a cold apple slice in the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.901          0.75           0              270            0
   1  Potato          0.033          0.831          0.881          0              0              0              76
   2  Spatula         1.941          0.761          0.446          0              90             0              58
   3  Spoon           -0.042         0.792          1.049          0              0              0              76
   4  Spoon           1.276          0.796          2.584          0              0              0              73
   5  Fork            -0.349         0.782          0.713          0              0              0              76
   6  Plate           1.925          0.086          1.986          0              0              0              45
   7  Knife           -0.042         0.816          0.545          0              90             0              76
   8  SoapBottle      1.840          0.939          0.806          0              270            0              60
   9  Tomato          0.033          0.837          0.713          0              0              0              76
  10  Tomato          1.840          0.984          0.435          0              0              0              60
  11  Bowl            -0.396         0.934          2.757          0              0              0              49
  12  Bowl            2.023          0.335          -0.097         0              270            0              70
  13  SaltShaker      1.997          0.932          1.866          0              90             0              49
  14  SaltShaker      2.301          0.933          0.361          0              0              0              60
  15  PepperShaker    2.127          1.498          0.478          0              0              0              47
  16  Mug             2.137          0.855          -0.188         0              270            0              70
  17  Apple           -0.328         1.085          1.907          0              90             0              74
  18  Egg             -0.327         0.079          -0.737         0              90             0              71
  19  Lettuce         2.122          0.664          -0.460         0              270            0              70
  20  Fork            -0.119         0.791          0.545          0              180            0              76
  21  SoapBottle      1.369          0.082          2.445          0              0              0              55
  22  Ladle           1.919          0.790          2.197          0              270            0              64
  23  Ladle           -0.096         0.942          2.546          6.888          45             340.409        49
  24  Bread           -0.184         0.825          0.820          0              354.524        0              76
  25  SaltShaker      -0.119         0.785          1.049          0              0              0              76
  26  Potato          -0.196         0.831          1.217          0              0              0              76
  27  Pan             2.140          0.935          1.504          0              180            0              44
  28  WineBottle      1.556          0.938          2.666          0              0              0              49
  29  Spatula         -0.425         0.805          0.377          0              90             0              76
  30  Knife           -0.349         0.816          1.386          0              180            0              76
  31  Tomato          -0.282         0.983          2.618          0              0              0              49
  32  Apple           0.033          0.840          1.217          0              0              0              76
  33  ButterKnife     0.060          0.937          2.757          0              0              0              49
  34  Pot             2.140          0.935          1.106          0              0              0              51
  35  PepperShaker    2.304          0.932          2.162          0              0              0              49
  36  Cup             2.203          1.501          0.785          0              0              0              57
  37  DishSponge      0.629          0.794          2.584          0              0              0              73
  38  Plate           2.206          1.505          2.010          0              0              0              52
  39  Spoon           -0.272         0.792          0.545          0              0              0              76
  40  Mug             2.243          1.943          1.193          0              0              0              59
  41  Bowl            2.112          1.320          -0.279         0              270            0              70
  42  Cabinet         2.041          2.113          2.618          0              0              0
  43  Cabinet         0.126          0.388          1.774          0              0              0
  44  StoveBurner     2.140          0.929          1.504          0              180            0
  45  Cabinet         1.760          0.388          2.346          0              0              0
  46  Cabinet         1.760          0.388          0.869          0              0              0
  47  Cabinet         2.041          1.810          0.283          0              0              0
  48  Drawer          -0.024         0.774          2.061          0              0              0
  49  CounterTop      1.065          0.973          2.666          0              0              0
  50  Cabinet         1.969          2.113          2.618          0              0              0
  51  StoveBurner     2.140          0.929          1.106          0              0              0
  52  Cabinet         2.041          2.113          1.809          0              0              0
  53  StoveBurner     1.866          0.929          1.504          0              180            0
  54  Cabinet         2.041          2.113          1.766          0              0              0
  55  Cabinet         1.514          0.388          2.360          0              0              0
  56  Cabinet         0.351          0.388          2.360          0              0              0
  57  Cabinet         2.041          1.810          0.872          0              0              0
  58  Drawer          2.167          0.774          0.582          0              0              0
  59  Cabinet         2.041          2.113          0.892          0              0              0
  60  CounterTop      2.060          0.973          0.583          0              0              0
  61  Sink            0.935          0.936          2.646          0              0              0
  62  Curtains        0.964          2.061          2.989          0              0              0
  63  StoveBurner     1.863          0.929          1.106          0              0              0
  64  Drawer          1.911          0.774          2.060          0              0              0
  65  StoveKnob       2.326          1.092          1.610          288.013        90             0
  66  StoveKnob       2.326          1.092          1.460          288.013        90             0
  67  StoveKnob       2.326          1.092          1.210          288.013        90             0
  68  StoveKnob       2.326          1.092          1.050          288.013        90             0
  69  Toaster         2.126          0.926          0.572          0              270            0
  70  Fridge          2.104          0.0            -0.279         0              270            0
  71  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  72  LightSwitch     0.354          1.518          -1.031         0              0              0
  73  SinkBasin       0.903          0.784          2.640          0              0              0
  74  Microwave       -0.310         0.926          2.077          0              90             0
  75  CoffeeMachine   2.084          0.927          2.667          0              225            0
  76  DiningTable     -0.153         -0.000         1.073          0              270            0
  77  Faucet          1.175          0.926          2.950          270            90             0
  78  Faucet          0.686          0.926          2.950          270            90             0
  79  Chair           -0.077         0.002          0.196          0              15.000         0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Go to the right of the table | STEP 2: Grab the knife off of the table | STEP 3: Turn right and go to the microwave | STEP 4: Slice the apple in the microwave | STEP 5: Put the knife in the microwave | STEP 6: Grab a slice of the apple | STEP 7: Turn around and go to the fridge | STEP 8: Cool the apple in the fridge and then take it out | STEP 9: Turn left and go to the sink | STEP 10: Put the apple in the sink | END