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           -1.5           0.900          1.5            0              0              0
   1  Pan             -2.59          0.9            -1.147         0              0              0              70
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              70
   3  DishSponge      -2.499         0.746          -0.027         0              0              0              68
   4  Kettle          -2.622         0.928          -0.711         0              0              0              61
   5  Kettle          0.829          0.118          -1.014         0              180            0              50
   6  Pot             -2.800         0.821          0.852          0              90             0              82
   7  Fork            -1.332         0.850          -1.305         0              90             0              80
   8  Spatula         -1.505         0.864          -1.139         0              270            0              80
   9  Spatula         -2.521         0.926          0.359          0              270            0              68
  10  Cup             -2.680         1.671          0.771          0              90             0              82
  11  Plate           -2.847         1.666          0.233          0              0              0              56
  12  Egg             0.294          1.040          -1.347         0              0              0              83
  13  SoapBottle      0.842          0.912          -1.032         0              0              0              70
  14  Tomato          -2.740         1.722          0.932          0              90             0              82
  15  Tomato          0.765          0.960          -1.199         0              0              0              70
  16  Bowl            -1.982         0.114          -1.056         0              0              0              46
  17  Lettuce         -2.740         0.457          0.771          0              90             0              82
  18  Lettuce         0.413          1.190          0.998          0              315            0              63
  19  PepperShaker    0.997          0.907          -1.365         0              0              0              70
  20  Apple           0.284          1.154          1.580          0              0              0              63
  21  Fork            -1.933         0.911          -1.282         0              0              0              70
  22  Kettle          -1.173         0.118          -1.068         0              0              0              43
  23  CreditCard      0.997          0.9            -0.982         0              334.941        0              70
  24  Bread           -0.401         0.948          -1.291         0              0              0              70
  25  Plate           -0.994         1.664          -1.360         0              0              0              59
  26  SoapBottle      -2.624         0.116          0.030          0              0              0              51
  27  Spatula         -2.438         0.926          -0.147         0              90             0              62
  28  Lettuce         -2.757         0.116          1.466          0              0              0              81
  29  SaltShaker      -2.695         0.9            -0.132         0              0              0              62
  30  Tomato          -2.236         0.960          -1.115         0              0              0              70
  31  PepperShaker    -2.736         2.039          0.790          0              0              0              60
  32  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              70
  33  Pot             -2.622         0.928          -0.396         0              0              0              64
  34  DishSponge      -2.774         2.043          1.222          0              0              0              55
  35  Egg             -2.853         0.946          -0.062         0              0              0              62
  36  Spoon           -0.157         0.9            -1.015         0              0              0              70
  37  Knife           0.060          1.106          1.587          270            209.997        0              63
  38  Cup             -2.920         1.472          0.932          0              90             0              82
  39  Mug             0.372          1.654          -1.353         0              0              0              49
  40  Bowl            -2.680         1.472          0.852          0              90             0              82
  41  Cabinet         -2.647         2.075          -0.875         0              0              0
  42  Cabinet         -2.647         2.075          -0.234         0              0              0
  43  Cabinet         -0.824         0.469          -0.907         0              0              0
  44  Cabinet         -1.764         2.009          -1.197         0              0              0
  45  Cabinet         -1.834         2.009          -1.197         0              0              0
  46  Cabinet         -1.850         0.389          -0.897         0              0              0
  47  Cabinet         -1.801         0.469          -0.907         0              0              0
  48  Cabinet         1.115          2.009          -1.197         0              0              0
  49  Cabinet         0.235          2.009          -1.197         0              0              0
  50  Cabinet         1.125          0.470          -0.897         0              0              0
  51  Cabinet         -2.387         0.389          0.375          0              0              0
  52  Cabinet         0.484          0.389          -0.897         0              0              0
  53  Cabinet         -2.625         2.009          -1.197         0              0              0
  54  Cabinet         -2.647         2.009          -0.945         0              0              0
  55  Cabinet         -2.647         2.200          1.664          0              0              0
  56  Cabinet         -2.647         2.009          0.364          0              0              0
  57  Cabinet         0.164          2.009          -1.197         0              0              0
  58  Cabinet         -0.765         2.009          -1.197         0              0              0
  59  Cabinet         -0.834         2.009          -1.197         0              0              0
  60  Cabinet         -2.647         2.200          0.434          0              0              0
  61  StoveBurner     -2.622         0.886          -0.711         0              0              0
  62  CounterTop      -2.699         0.946          0.106          0              0              0
  63  CounterTop      0.908          1.147          0.788          0              315            0
  64  StoveBurner     -2.622         0.886          -0.396         0              0              0
  65  Drawer          -2.026         0.779          -1.082         0              0              0
  66  Sink            -1.328         0.916          -1.225         0              0              0
  67  StoveBurner     -2.822         0.886          -0.711         0              0              0
  68  Drawer          -2.572         0.779          0.099          0              0              0
  69  StoveBurner     -2.822         0.886          -0.396         0              0              0
  70  CounterTop      0.071          0.946          -1.199         0              0              0
  71  Drawer          0.254          0.779          -1.082         0              0              0
  72  LightSwitch     -1.167         1.307          3.0            0              180            0
  73  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  74  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  75  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  76  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  78  Window          0.321          1.449          3.088          90             0              0
  79  Toaster         -2.823         0.899          0.246          0              90             0
  80  SinkBasin       -1.344         0.838          -1.25          0              0              0
  81  GarbageCan      -2.757         1.886          1.466          0              0              0
  82  Fridge          -2.855         0.0            0.851          0              0              0
  83  Microwave       0.283          0.900          -1.331         0              0              0
  84  Stool           1.541          0.010          1.328          0              45             0
  85  Stool           0.983          0.010          1.793          0              47.459         0
  86  Faucet          -1.392         1.136          -1.399         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn right and move to the counter near the window. | STEP 2: Pick up the knife with the gold handle from the counter. | STEP 3: Move around the counter to the right of the black stool in front of the window . | STEP 4: Slice the apple in the center of the counter using the knife. | STEP 5: Turn to the right, move towards the blue trash bin, then turn to the left, move towards the brown coffee maker, then turn to the right and move to the red microwave. | STEP 6: Open the microwave door and place the knife in front of the egg on the plate then close the microwave door. | STEP 7: Turn right, move toward the range, then turn right and move toward the window, then turn right and move to the black stool, then turn and face the counter. | STEP 8: Take one apple slice from the sliced apple. | STEP 9: Turn to the right, move towards the blue trash bin, then turn to the left, move towards the brown coffee maker, then turn to the right and move to the red microwave. | STEP 10: Open the microwave, place the apple slice on the plate to the left of the egg, microwave the slice, open the microwave door, take the apple slice from the plate, then close the microwave door. | STEP 11: Turn right, move towards the range, then turn left and face the sink. | STEP 12: Place the apple slice in the front of the sink between the fork and the spatula. | END