Task: place microwaved apple slice in sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -1.0           0              90             0
   1  Potato          -0.047         0.956          0.076          0              0              0              88
   2  DishSponge      0.180          0.930          0.305          0              0              0              88
   3  DishSponge      1.850          0.913          -2.002         0              0              0              71
   4  ButterKnife     0.921          0.913          -2.085         0              0              0              71
   5  WineBottle      1.850          0.914          -1.834         0              0              0              71
   6  Spatula         1.153          0.928          -2.085         0              0              0              71
   7  Spoon           1.618          0.914          -1.834         0              90             0              71
   8  Spoon           -0.047         0.928          0.762          0              0              0              88
   9  Fork            1.850          0.914          -1.918         0              0              0              71
  10  Fork            0.294          0.927          1.220          0              0              0              88
  11  Egg             -1.495         0.913          -1.013         0              90             0              79
  12  Cup             1.988          1.658          -1.240         0              270            0              61
  13  Cup             1.455          0.120          -1.200         0              270            0              65
  14  Knife           1.153          0.936          -1.834         0              0              0              71
  15  Knife           -0.283         0.787          -2.071         0              90             0              83
  16  Tomato          0.180          0.978          0.076          0              0              0              88
  17  SoapBottle      2.009          0.912          -1.095         0              0              0              71
  18  SoapBottle      1.294          0.117          -1.806         0              0              0              63
  19  Bowl            1.919          0.910          -1.329         0              0              0              71
  20  Bowl            1.773          0.549          2.534          0              0              0              97
  21  SaltShaker      1.566          0.549          2.534          0              0              0              97
  22  SaltShaker      0.180          0.923          1.448          0              0              0              88
  23  PepperShaker    -1.313         2.143          -1.202         0              90             0              55
  24  PepperShaker    -1.284         2.143          -0.910         0              90             0              55
  25  Mug             1.359          0.548          2.586          0              0              0              97
  26  Apple           -0.137         0.835          -2.116         0              0              0              83
  27  Apple           0.408          0.997          0.534          0              0              0              88
  28  Apple           -0.137         0.835          -1.981         0              0              0              83
  29  Apple           -0.616         0.984          -2.233         0              0              0              71
  30  Potato          -1.380         1.212          -0.392         0              90             0              79
  31  Bowl            -0.047         0.927          0.991          0              0              0              88
  32  SoapBottle      0.180          0.929          0.991          0              0              0              88
  33  Fork            0.294          0.927          1.448          0              0              0              88
  34  Ladle           1.690          0.164          -1.332         0              270            0              65
  35  Bread           0.399          0.964          0.110          0              0              1.601          88
  36  Lettuce         -0.047         1.011          0.305          0              0              0              88
  37  WineBottle      1.833          1.658          -1.544         0              270            0              61
  38  Spatula         1.618          0.928          -2.085         0              180            0              71
  39  Plate           -0.047         0.930          1.448          0              0              0              88
  40  SaltShaker      1.919          0.909          -1.095         0              0              0              71
  41  Pot             1.567          0.948          -0.757         0              0              0              53
  42  Cup             -1.323         0.859          -1.013         0              90             0              79
  43  PepperShaker    0.180          0.923          0.534          0              0              0              88
  44  Pan             -1.438         0.859          -0.495         0              0              0              79
  45  ButterKnife     0.066          0.926          0.534          0              0              0              88
  46  Tomato          0.457          0.965          -2.252         0              0              0              71
  47  DishSponge      1.876          1.657          -1.117         0              270            0              62
  48  Egg             0.294          0.984          0.762          0              0              0              88
  49  Spoon           -0.064         0.765          -2.071         0              90             0              83
  50  Knife           -0.210         0.787          -1.981         0              270            0              83
  51  Mug             1.738          0.908          -1.563         0              0              0              71
  52  StoveBurner     1.845          0.940          -0.355         0              0              0
  53  StoveBurner     1.567          0.940          -0.757         0              0              0
  54  Cabinet         -1.149         2.019          -1.979         0              90             0
  55  Cabinet         -1.149         2.265          -0.834         0              90             0
  56  Cabinet         -0.459         2.265          -2.0           0              0              0
  57  Cabinet         -1.100         2.019          -2.0           0              0              0
  58  Cabinet         1.719          2.019          -2.0           0              0              0
  59  Cabinet         1.179          2.019          -2.0           0              0              0
  60  Cabinet         0.199          2.019          -2.0           0              0              0
  61  Cabinet         1.75           2.019          -1.399         0              270            0
  62  Cabinet         1.75           2.019          -1.029         0              270            0
  63  Cabinet         1.379          0.469          -1.689         0              0              0
  64  Cabinet         -0.819         0.469          -1.689         0              0              0
  65  Cabinet         1.389          0.469          -1.059         0              270            0
  66  Cabinet         -0.839         0.469          -1.665         0              90             0
  67  StoveBurner     1.567          0.940          -0.355         0              0              0
  68  StoveBurner     1.845          0.940          -0.757         0              0              0
  69  Sink            -0.109         0.893          -2.009         0              0              0
  70  Drawer          -0.819         0.75           -1.690         0              0              0
  71  CounterTop      0.232          0.949          -2.002         0              0              0
  72  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  73  Vase            0.251          0.546          0.475          0              270            0
  74  Toaster         0.780          0.900          -2.080         0              0              0
  75  LightSwitch     0.108          1.315          2.75           0              180            0
  76  Vase            0.400          0.925          0.218          0              180            0
  77  Microwave       -1.233         0.900          -1.680         0              90             0
  78  Vase            1.465          1.662          -2.200         0              0              0
  79  Fridge          -1.495         0.0            -0.703         0              0              0
  80  Window          2.114          1.495          1.072          90             270            0
  81  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  82  Vase            0.333          0.546          1.272          0              270            0
  83  SinkBasin       -0.148         0.753          -2.026         0              0              0
  84  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  85  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  86  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  87  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  88  DiningTable     0.170          0.005          0.678          0              270            0
  89  Shelf           0.170          0.155          0.678          0              270            0
  90  Shelf           1.605          0.172          2.480          0              0              0
  91  Shelf           1.605          0.552          2.480          0              0              0
  92  Shelf           1.604          0.880          2.479          0              0              0
  93  ShelvingUnit    1.605          0.006          2.480          0              0              0
  94  Faucet          -0.143         1.028          -2.223         0              270            0
  95  Stool           -0.553         0.000          0.871          1.233          280.376        0
  96  Shelf           0.170          0.528          0.678          0              270            0
  97
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: turn around, go to sink to the right | STEP 2: pick up yellow handle knife to the right of apples in sink | STEP 3: slice apple in back of sink | STEP 4: place knife in sink | STEP 5: pick up slice of apple from sink | STEP 6: turn right to counter with microwave | STEP 7: place apple slice on gray plate in microwave, microwave apple slice, take apple slice out of microwave, close microwave | STEP 8: turn left, go to sink | STEP 9: place apple slice in right side of sink | END