Task: put a slice of cooked apple into 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           -3.25          0.900          1.5            0              180            0
   1  DishSponge      -0.415         1.047          2.369          0              0              0              48
   2  DishSponge      -0.883         1.124          0.569          0              0              0              60
   3  ButterKnife     -0.785         1.047          1.920          0              0              0              48
   4  Pot             -3.000         1.133          0.480          0              270            0              53
   5  Spoon           -2.262         1.126          0.284          0              0              0              58
   6  Spoon           -2.184         0.096          0.613          0              270            0              50
   7  Spatula         -1.199         0.946          0.359          0              90             0              70
   8  Spatula         -0.662         1.062          3.266          0              0              0              48
   9  Plate           -1.156         0.047          0.551          0              0              0              52
  10  Plate           -3.440         1.561          2.849          0              90             0              65
  11  SoapBottle      -3.644         0.113          2.038          0              0              0              69
  12  SoapBottle      -3.923         1.125          0.284          0              0              0              55
  13  Tomato          -0.715         1.165          0.115          0              0              0              60
  14  PepperShaker    -2.089         0.091          0.579          0              0              0              50
  15  PepperShaker    -0.785         1.044          2.593          0              0              0              48
  16  Lettuce         -0.908         1.124          2.593          0              0              0              48
  17  Lettuce         -0.785         1.124          2.144          0              0              0              48
  18  Apple           -3.572         0.979          3.061          0              90             0              65
  19  Apple           -0.785         1.115          3.042          0              0              0              48
  20  Apple           -2.514         1.192          0.662          0              0              0              58
  21  Fork            -0.415         1.048          2.593          0              0              0              48
  22  SoapBottle      -0.908         1.048          3.042          0              0              0              48
  23  Pot             -3.475         1.133          0.227          0              90             0              44
  24  Ladle           -1.922         1.139          0.377          351.046        45             351.754        58
  25  Potato          -2.137         1.155          0.662          0              0              0              58
  26  Plate           -1.601         0.047          0.608          0              0              0              63
  27  Bread           -0.908         1.133          2.817          0              0              0              48
  28  Lettuce         -0.662         1.125          2.817          0              0              0              48
  29  Spatula         -1.465         0.946          0.498          0              180            0              70
  30  Pan             -0.266         1.038          2.561          0              0              0              48
  31  Egg             -0.538         1.077          3.042          0              0              0              48
  32  Cup             -0.538         1.045          2.369          0              0              0              48
  33  SaltShaker      -3.778         1.121          0.284          0              0              0              55
  34  Knife           -2.011         1.157          0.190          0              0              0              58
  35  Bowl            -0.538         1.045          1.920          0              0              0              48
  36  PepperShaker    -2.416         0.898          0.645          0              0              0              57
  37  ButterKnife     -2.262         1.124          0.567          0              0              0              58
  38  Apple           -0.292         1.115          2.144          0              0              0              48
  39  Tomato          -3.798         0.153          1.978          0              0              0              69
  40  DishSponge      -2.639         1.124          0.095          0              0              0              58
  41  Spoon           -1.901         0.096          0.545          0              90             0              50
  42  Mug             -1.553         0.926          0.359          0              0              0              70
  43  StoveKnob       -3.322         1.053          0.709          45             0              0
  44  StoveBurner     -3.474         1.097          0.227          0              180            0
  45  Sink            -1.394         0.982          0.439          0              0              0
  46  StoveBurner     -3.474         1.097          0.479          0              180            0
  47  StoveKnob       -3.164         1.053          0.709          45             0              0
  48  DiningTable     -0.620         0.017          2.486          0              0              0
  49  Drawer          -2.043         0.608          0.594          0              0              0
  50  Drawer          -2.043         0.216          0.594          0              0              0
  51  Drawer          -2.498         0.216          0.594          0              0              0
  52  Cabinet         -1.001         0.393          0.734          0              0              0
  53  StoveBurner     -3.000         1.097          0.480          0              0              0
  54  StoveKnob       -3.492         1.053          0.709          45             0              0
  55  CounterTop      -3.856         1.160          0.379          0              0              0
  56  Drawer          -2.043         0.937          0.599          0              0              0
  57  Drawer          -2.509         0.937          0.599          0              0              0
  58  CounterTop      -2.280         1.160          0.379          0              0              0
  59  StoveKnob       -2.985         1.053          0.709          45             0              0
  60  CounterTop      -0.514         1.160          0.492          0              0              0
  61  Drawer          -2.498         0.608          0.594          0              0              0
  62  StoveBurner     -3.000         1.097          0.227          0              0              0
  63  Cabinet         -1.733         0.393          0.734          0              0              0
  64  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  65  Fridge          -3.519         0.0            2.717          0              90             0
  66  Window          -1.394         1.924          0.014          90             0              0
  67  Window          -3.266         1.924          0.014          90             0              0
  68  Toaster         -0.225         1.038          2.865          0              270            0
  69  GarbageCan      -3.696         0.002          2.008          0              0              0
  70  SinkBasin       -1.389         0.921          0.428          0              0              0
  71  Microwave       -0.366         1.113          0.430          0              0              0
  72  HousePlant      -2.155         1.101          0.169          0              332.897        0
  73  LightSwitch     -2.584         1.299          3.5            0              180            0
  74  Faucet          -1.393         1.373          0.168          0              270            0
  75  NorthWall
  76  SouthWall
  77  SouthWall

Plan:
STEP 1: turn left and stop before the sink and turn to face the counter to the right of the sink | STEP 2: pick up the knife with the yellow handle that is to the left of the potted plant | STEP 3: turn to the left, move forward towards the wall and turn to the left to face the long brown table | STEP 4: slice the apple with the knife into three quarters | STEP 5: turn to the left move forward slightly, stop in front of the sink | STEP 6: put the knife into the left side of the sink | STEP 7: turn around to face the brown table in front of the slice apple | STEP 8: pick up one of the slices of the apple | STEP 9: turn around to face the microwave | STEP 10: open the microwave door, put the apple into the microwave, close the door and cook the apple for three seconds, open the door and remove the apple slice | STEP 11: turn to face the sink | STEP 12: put the slice of apple into the sink to the left of the knife with the yellow handle | END