Task: put cooked apple 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           -1.5           0.900          2.0            0              90             0
   1  Pan             -2.781         0.824          2.133          0              180            0              67
   2  Potato          -1.709         0.862          0.046          0              0              0              49
   3  Ladle           -1.465         0.169          0.401          0              0              0              62
   4  DishSponge      -2.000         0.124          0.362          0              0              0              61
   5  DishSponge      -0.092         0.823          0.992          0              0              0              49
   6  ButterKnife     -2.735         0.823          0.871          0              0              0              49
   7  Fork            -2.581         0.824          0.789          0              90             0              49
   8  Spoon           -0.400         0.824          0.658          0              0              0              49
   9  Spoon           -0.169         0.824          1.214          0              90             0              49
  10  Spatula         -2.957         0.838          0.426          0              270            0              49
  11  Egg             -2.375         0.847          0.278          0              0              0              49
  12  Egg             -2.724         0.847          0.129          0              0              0              49
  13  Cup             -2.608         0.823          0.278          0              0              0              49
  14  Knife           -0.817         0.849          0.278          0              90             0              49
  15  Tomato          -2.375         0.873          0.426          0              0              0              49
  16  Tomato          -2.671         1.495          1.957          0              90             0              67
  17  SoapBottle      -2.000         0.123          0.479          0              0              0              61
  18  SaltShaker      -1.580         0.120          0.362          0              0              0              62
  19  PepperShaker    -2.724         0.818          0.055          0              0              0              49
  20  PepperShaker    -1.207         0.818          0.046          0              0              0              49
  21  Apple           -2.491         0.896          0.129          0              0              0              49
  22  Fork            -2.631         0.692          1.474          0              90             0              54
  23  Ladle           -0.147         0.867          0.352          0              0              0              49
  24  Pan             -0.244         0.829          2.075          0              180            0              44
  25  SoapBottle      -0.362         0.054          2.674          0              0              0              69
  26  Pot             -0.531         0.822          2.096          0              0              0              46
  27  Tomato          -0.395         0.106          2.539          0              0              0              69
  28  Potato          -2.837         1.182          2.133          0              90             0              67
  29  SaltShaker      -2.504         0.818          0.625          0              0              0              49
  30  Plate           -2.726         1.148          2.309          0              90             0              67
  31  Spatula         -0.984         0.838          0.500          0              0              0              49
  32  Knife           -2.662         0.819          0.557          90             300.034        0              49
  33  Egg             -2.211         0.847          0.032          0              0              0              49
  34  Cup             -2.609         0.121          1.431          0              0              0              60
  35  ButterKnife     -2.493         0.812          0.476          0              50.734         0              49
  36  Lettuce         -1.836         0.741          0.238          0              55.910         0              76
  37  PepperShaker    -2.375         0.818          0.055          0              0              0              49
  38  DishSponge      -2.882         1.434          1.588          0              0              0              57
  39  Bread           -0.979         0.855          0.249          0              29.999         0              49
  40  Spoon           -0.394         0.696          1.252          0              0              0              45
  41  Mug             -0.400         0.818          0.992          0              0              0              49
  42  Bowl            -2.726         1.442          2.221          0              90             0              67
  43  Cabinet         -2.377         2.015          1.720          0              0              0
  44  StoveBurner     -0.244         0.820          2.075          0              180            0
  45  Drawer          -0.402         0.703          1.252          0              0              0
  46  StoveBurner     -0.518         0.820          2.075          0              180            0
  47  Sink            -1.838         0.726          0.343          0              180            0
  48  StoveBurner     -0.244         0.820          1.684          0              0              0
  49  CounterTop      -1.557         0.859          0.277          0              0              0
  50  StoveBurner     -0.518         0.820          1.684          0              0              0
  51  Drawer          -0.404         0.704          0.912          0              0              0
  52  Drawer          -0.861         0.709          0.420          0              0              0
  53  Drawer          -1.133         0.706          0.418          0              0              0
  54  Drawer          -2.589         0.703          1.511          0              0              0
  55  Cabinet         -2.772         1.803          0.508          0              0              0
  56  Cabinet         -2.460         1.803          0.231          0              0              0
  57  Cabinet         -2.781         1.798          0.825          0              0              0
  58  Cabinet         -2.781         1.798          0.815          0              0              0
  59  Cabinet         -2.377         2.009          2.581          0              0              0
  60  Cabinet         -2.442         0.385          1.672          0              0              0
  61  Cabinet         -2.238         0.385          0.564          0              0              0
  62  Cabinet         -1.286         0.385          0.564          0              0              0
  63  Cabinet         -1.262         0.385          0.565          0              0              0
  64  Cabinet         -0.734         0.385          0.565          0              0              0
  65  Cabinet         -0.549         0.385          0.751          0              0              0
  66  Cabinet         -0.549         0.385          1.412          0              0              0
  67  Fridge          -2.782         0.0            2.221          0              0              0
  68  Microwave       -2.794         0.812          1.348          0              90             0
  69  GarbageCan      -0.329         2.205          2.606          0              0              0
  70  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  71  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  72  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  73  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  74  Window          -1.720         1.342          -0.208         90             0              0
  75  Toaster         -0.171         0.812          0.735          0              270            0
  76  SinkBasin       -1.745         0.687          0.295          0              0              0
  77  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  78  LightSwitch     -0.615         1.378          3.0            0              180            0
  79  Faucet          -1.686         0.954          0.176          0              236.223        0
  80  Stool           -1.008         0.008          1.955          0              18.279         0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: turn around, walk to fridge, turn left, walk to sink | STEP 2: pick up the apple that is on the counter next to the sink | STEP 3: turn around, take a few steps, turn left to face microwave | STEP 4: put apple in microwave, turn it on, take apple out when it turns off | STEP 5: turn around, take a few steps, turn right to face sink | STEP 6: put apple in the sink | END