Task: Place a cooked 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           2.5            0.930          -0.25          0              90             0
   1  Ladle           1.112          1.711          -1.410         0              270            0              57
   2  Glassbottle     3.028          0.748          0.231          0              90             0              111
   3  Glassbottle     3.152          0.748          0.231          0              90             0              111
   4  Kettle          3.198          0.176          -0.404         0              0              0              77
   5  Kettle          -0.420         0.902          -0.920         0              135            0              61
   6  Pot             -0.935         0.900          0.623          0              0              0              66
   7  Pot             3.181          1.464          -1.648         0              90             0              64
   8  Fork            -0.033         0.900          -1.291         0              225            0              87
   9  CellPhone       0.798          0.905          0.727          0              0              0              97
  10  Mug             0.929          0.708          -1.433         0              0              0              112
  11  Apple           0.533          0.981          0.627          0              0              0              97
  12  Apple           1.164          0.959          -1.503         0              0              0              112
  13  Lettuce         0.783          0.976          0.572          0              36.810         0              97
  14  SaltShaker      3.029          0.709          -0.784         0              180            0              53
  15  PepperShaker    -0.661         0.514          -0.777         0              45             0              89
  16  PepperShaker    1.622          0.904          0.180          0              0              0              97
  17  Bowl            -0.729         0.897          -0.699         0              45             0              66
  18  Bowl            -1.052         0.994          1.417          0              90             0              114
  19  SoapBottle      2.960          1.473          -1.235         0              0              0              80
  20  SoapBottle      3.246          1.273          -0.917         0              0              0              79
  21  Tomato          2.987          0.784          0.032          0              90             0              111
  22  Egg             1.242          1.300          -1.475         0              0              0              112
  23  Cup             3.084          0.175          0.911          0              0              0              75
  24  Plate           0.605          0.923          0.218          0              36.810         0              97
  25  Knife           0.833          0.936          0.291          0              36.810         0              97
  26  Knife           0.953          0.936          0.567          0              36.810         0              97
  27  Plate           3.084          0.188          -0.786         0              0              0              78
  28  Glassbottle     1.622          0.908          0.747          0              0              0              97
  29  SoapBottle      0.713          1.683          -1.410         0              0              0              81
  30  Potato          0.022          0.938          -1.731         0              0              0              87
  31  Fork            2.966          0.901          -0.798         0              0              0              65
  32  Ladle           1.098          0.945          0.038          0              0              0              97
  33  Pot             0.423          0.900          0.869          0              0              0              97
  34  Kettle          1.491          0.909          0.605          0              0              0              97
  35  Spatula         -0.950         0.146          0.751          0              90             0              96
  36  Knife           0.179          0.925          -1.445         0              0              0              87
  37  Lettuce         -0.960         0.965          -0.774         0              45             0              66
  38  Cup             3.197          0.175          0.700          0              0              0              75
  39  SaltShaker      -0.827         0.703          1.693          0              0              0              59
  40  Egg             0.773          1.300          -1.503         0              0              0              112
  41  PepperShaker    -0.950         0.127          1.343          0              0              0              90
  42  ButterKnife     3.044          0.900          -0.499         0              0              0              65
  43  Apple           0.929          1.147          -1.503         0              0              0              112
  44  Pan             0.341          0.873          -1.649         0              167.065        0              87
  45  Bread           -1.008         0.979          -0.047         0              0              0              66
  46  CellPhone       -0.857         0.897          -0.773         0              45             0              66
  47  DishSponge      -0.054         0.322          -1.329         0              45             0              98
  48  Tomato          -0.028         0.937          -1.193         0              45             0              87
  49  Spoon           -0.827         0.132          1.605          0              0              0              90
  50  Bowl            3.028          0.174          0.559          0              0              0              75
  51  Mug             1.229          0.905          0.747          0              0              0              97
  52  Drawer          0.376          0.572          -1.509         0              0              0
  53  Drawer          3.020          0.769          -0.783         0              180            0
  54  Drawer          -0.860         0.577          1.429          0              0              0
  55  StoveBurner     -0.600         0.897          -1.090         0              135            0
  56  Drawer          0.376          0.191          -1.509         0              0              0
  57  Cabinet         1.402          1.874          -1.259         0              0              0
  58  Cabinet         -0.202         1.963          -1.328         0              0              0
  59  Drawer          -0.860         0.765          1.429          0              0              0
  60  Drawer          -0.677         0.765          -0.700         0              0              0
  61  StoveBurner     -0.420         0.897          -0.920         0              135            0
  62  Drawer          3.020          0.769          -0.407         0              180            0
  63  Drawer          -0.860         0.577          0.663          0              0              0
  64  Cabinet         2.819          1.768          -1.850         0              0              0
  65  CounterTop      3.111          0.936          0.019          0              0              0
  66  CounterTop      -1.007         0.935          -0.039         0              0              0
  67  Drawer          -0.860         0.385          0.663          0              0              0
  68  StoveBurner     -0.419         0.897          -1.269         0              315            0
  69  Drawer          -0.047         0.573          -1.324         0              0              0
  70  Drawer          -0.860         0.765          0.663          0              0              0
  71  Drawer          -0.860         0.385          -0.100         0              0              0
  72  Drawer          0.376          0.380          -1.509         0              0              0
  73  Drawer          -0.860         0.765          -0.100         0              0              0
  74  Drawer          0.376          0.765          -1.509         0              0              0
  75  Cabinet         2.849          0.419          0.409          0              0              0
  76  Drawer          -0.047         0.765          -1.324         0              0              0
  77  Cabinet         2.849          0.419          -0.610         0              0              0
  78  Cabinet         2.849          0.419          -0.959         0              0              0
  79  Cabinet         3.069          1.666          -0.709         0              0              0
  80  Cabinet         2.819          1.768          -1.047         0              0              0
  81  Cabinet         0.620          1.874          -1.259         0              0              0
  82  Cabinet         0.140          1.666          -1.559         0              0              0
  83  Cabinet         -0.189         1.666          -1.340         0              0              0
  84  Cabinet         -0.709         1.963          -0.819         0              0              0
  85  Cabinet         -0.920         1.665          -0.620         0              0              0
  86  Drawer          -0.860         0.190          -0.100         0              0              0
  87  CounterTop      0.133          0.935          -1.457         0              0              0
  88  Drawer          3.020          0.769          0.695          0              180            0
  89  Drawer          -0.677         0.577          -0.700         0              0              0
  90  Drawer          -0.860         0.190          1.429          0              0              0
  91  Drawer          -0.047         0.192          -1.324         0              0              0
  92  Drawer          -0.677         0.193          -0.700         0              0              0
  93  Drawer          -0.860         0.577          -0.100         0              0              0
  94  Sink            3.078          0.887          0.086          0              0              0
  95  StoveBurner     -0.239         0.897          -1.089         0              315            0
  96  Drawer          -0.860         0.190          0.663          0              0              0
  97  CounterTop      1.210          0.937          0.463          0              0              0
  98  Drawer          -0.047         0.381          -1.324         0              0              0
  99  Drawer          -0.677         0.387          -0.700         0              0              0
 100  Mirror          -1.295         1.630          0.045          0              0              0
 101  Drawer          -0.860         0.385          1.429          0              0              0
 102  HousePlant      3.196          0.891          -0.368         0              0              0
 103  StoveKnob       -0.090         0.790          -1.009         270            45             0
 104  StoveKnob       -0.280         0.790          -0.819         270            45             0
 105  StoveKnob       -0.180         0.790          -0.920         270            45             0
 106  StoveKnob       -0.370         0.790          -0.720         270            45             0
 107  GarbageCan      3.137          0.025          1.545          0              225            0
 108  Window          3.703          1.675          0.046          90             90             0
 109  CoffeeMachine   3.214          0.890          0.697          0              270            0
 110  LightSwitch     2.592          1.309          -1.880         0              0              0
 111  SinkBasin       3.069          0.736          0.108          0              90             0
 112  Fridge          1.008          0.029          -1.467         0              0              0
 113  Toaster         -1.035         0.873          -0.396         0              90             0
 114  Microwave       -1.034         0.874          1.428          0              90             0
 115  Faucet          3.305          0.886          0.094          270            180            0
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: turn to the right and take a few steps and turn to the right and go to the end of the counter and turn to the right and take a few steps and turn to the right facing the counter | STEP 2: pick up the back yellow handle knife from the counter | STEP 3: turn to the left and take a step and turn to the right facing the counter | STEP 4: slice up with the knife the apple in three slices on the counter top | STEP 5: turn to the right and go past the counter and turn to the left and go past the counter and turn left and go to the front of the sink and turn right and go to the sink | STEP 6: put the knife in the sink | STEP 7: turn to the right and take a step and turn to the right an go past the counter and turn to the right and take a few steps and turn to the right facing the counter | STEP 8: pick up a apple slice from the counter top | STEP 9: turn to the left and take a few steps and turn to the left and go to microwave | STEP 10: put the apple slice in the microwave and cook it and take out the apple slice | STEP 11: turn to the left and go past the counter and turn to the left and go past the counter and turn left and go to the front of the sink and turn right and go to the sink | STEP 12: put the apple slice in the sink | END