Task: Put a cooked piece of apple in a 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          -0.25          0              0              0
   1  Pan             -2.59          0.9            -1.147         0              0              0              72
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              72
   3  CreditCard      0.411          0.744          -1.138         0              0              0              73
   4  DishSponge      -2.438         0.910          0.275          0              0              0              64
   5  DishSponge      -2.065         0.746          -1.137         0              0              0              67
   6  ButterKnife     0.765          0.911          -0.948         0              0              0              72
   7  ButterKnife     -0.039         1.111          1.844          0              315            0              65
   8  Spoon           -0.450         0.912          -1.115         0              0              0              72
   9  Fork            0.307          0.746          -1.095         0              90             0              73
  10  Spatula         0.035          1.126          1.684          0              315            0              65
  11  Cup             -1.159         0.848          -1.360         0              0              0              82
  12  Cup             -2.680         1.472          1.013          0              90             0              84
  13  Knife           -2.456         0.769          -0.027         0              90             0              70
  14  SoapBottle      -2.774         2.044          1.296          0              0              0              57
  15  Tomato          -2.740         1.523          0.609          0              90             0              84
  16  Tomato          -2.786         0.085          1.501          0              0              0              83
  17  Lettuce         -2.860         0.899          0.932          0              90             0              84
  18  SaltShaker      -1.933         0.907          -1.449         0              0              0              72
  19  SaltShaker      0.920          0.907          -1.449         0              0              0              72
  20  Bread           0.836          1.166          0.729          0              315            0              65
  21  Mug             1.029          1.145          0.209          0              228.424        0              75
  22  Apple           0.284          1.154          1.580          0              0              0              65
  23  Fork            0.798          1.112          1.383          0              315            0              65
  24  Kettle          -2.620         0.922          -0.724         0              0              0              63
  25  CreditCard      -0.344         0.908          -1.115         0              0              0              72
  26  Bread           -2.800         1.727          0.690          0              90             0              84
  27  Plate           -1.458         0.843          -1.235         0              0              0              82
  28  SoapBottle      -2.936         0.912          -0.147         0              0              0              64
  29  Spatula         -2.438         0.926          0.190          0              0              0              64
  30  Lettuce         -2.800         1.553          0.852          0              90             0              84
  31  SaltShaker      0.178          1.108          1.692          0              315            0              65
  32  Tomato          -2.800         1.722          1.013          0              90             0              84
  33  PepperShaker    -2.830         0.9            -0.112         0              0              0              64
  34  ButterKnife     -2.585         0.746          0.036          0              0              0              70
  35  Pot             1.463          1.100          0.61           0              0              0              65
  36  DishSponge      0.202          0.747          -1.009         0              0              0              73
  37  Egg             0.136          1.136          1.274          0              0              0              65
  38  Spoon           -2.671         0.747          0.163          0              90             0              70
  39  Knife           -1.073         0.874          -1.194         0              270            0              82
  40  Cup             0.294          1.004          -1.281         0              0              0              85
  41  Mug             0.057          1.657          -1.435         0              0              0              59
  42  Bowl            -2.046         0.9            -1.163         0              0              0              72
  43  Cabinet         -2.647         2.075          -0.875         0              0              0
  44  Cabinet         -2.647         2.075          -0.234         0              0              0
  45  Cabinet         -0.824         0.469          -0.907         0              0              0
  46  Cabinet         -1.764         2.009          -1.197         0              0              0
  47  Cabinet         -1.834         2.009          -1.197         0              0              0
  48  Cabinet         -1.850         0.389          -0.897         0              0              0
  49  Cabinet         -1.801         0.469          -0.907         0              0              0
  50  Cabinet         1.115          2.009          -1.197         0              0              0
  51  Cabinet         0.235          2.009          -1.197         0              0              0
  52  Cabinet         1.125          0.470          -0.897         0              0              0
  53  Cabinet         -2.387         0.389          0.375          0              0              0
  54  Cabinet         0.484          0.389          -0.897         0              0              0
  55  Cabinet         -2.625         2.009          -1.197         0              0              0
  56  Cabinet         -2.647         2.009          -0.945         0              0              0
  57  Cabinet         -2.647         2.200          1.664          0              0              0
  58  Cabinet         -2.647         2.009          0.364          0              0              0
  59  Cabinet         0.164          2.009          -1.197         0              0              0
  60  Cabinet         -0.765         2.009          -1.197         0              0              0
  61  Cabinet         -0.834         2.009          -1.197         0              0              0
  62  Cabinet         -2.647         2.200          0.434          0              0              0
  63  StoveBurner     -2.622         0.886          -0.711         0              0              0
  64  CounterTop      -2.699         0.946          0.106          0              0              0
  65  CounterTop      0.908          1.147          0.788          0              315            0
  66  StoveBurner     -2.622         0.886          -0.396         0              0              0
  67  Drawer          -2.026         0.779          -1.082         0              0              0
  68  Sink            -1.328         0.916          -1.225         0              0              0
  69  StoveBurner     -2.822         0.886          -0.711         0              0              0
  70  Drawer          -2.572         0.779          0.099          0              0              0
  71  StoveBurner     -2.822         0.886          -0.396         0              0              0
  72  CounterTop      0.071          0.946          -1.199         0              0              0
  73  Drawer          0.254          0.779          -1.082         0              0              0
  74  LightSwitch     -1.167         1.307          3.0            0              180            0
  75  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  76  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  78  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  79  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  80  Window          0.321          1.449          3.088          90             0              0
  81  Toaster         -2.823         0.899          0.246          0              90             0
  82  SinkBasin       -1.344         0.838          -1.25          0              0              0
  83  GarbageCan      -2.757         1.886          1.466          0              0              0
  84  Fridge          -2.855         0.0            0.851          0              0              0
  85  Microwave       0.283          0.900          -1.331         0              0              0
  86  Stool           1.541          0.010          1.328          0              45             0
  87  Stool           0.983          0.010          1.793          0              47.459         0
  88  Faucet          -1.392         1.136          -1.399         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn right, go to the end of the counter, face the counter to the left of the microwave. | STEP 2: Take the knife from the counter. | STEP 3: Go straight, turn right at the sink, go straight and around the counter in between the window and the counter, face the counter. | STEP 4: Cut the apple on the counter. | STEP 5: Go around the counter to the right and straight to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Turn around, go straight and around the counter in between the window and the counter, face the counter. | STEP 8: Take a piece of apple from the counter. | STEP 9: Go around the counter to the right and straight to the microwave. | STEP 10: Cook the apple in the microwave, take the apple from the microwave. | STEP 11: Turn right, go to the sink. | STEP 12: Put the apple in the sink. | END