Task: cook the apple and  put it 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           -1.25          0.900          3.25           0              90             0
   1  Potato          1.671          1.027          3.511          0              270            0              53
   2  Potato          1.225          1.027          3.511          0              0              0              53
   3  DishSponge      -0.345         0.770          0.395          0              0              0              49
   4  DishSponge      -0.611         0.992          0.120          0              0              0              53
   5  Kettle          -0.284         0.761          6.169          0              0              0              89
   6  Kettle          1.559          0.988          4.294          0              0              0              51
   7  Egg             0.301          0.810          6.674          0              225            0              89
   8  Egg             1.924          1.565          5.251          0              270            0              75
   9  Plate           1.406          0.141          1.864          0              0              0              42
  10  Plate           0.305          0.760          6.416          0              270            0              89
  11  Knife           -0.621         0.789          6.541          0              270            0              89
  12  Knife           0.260          0.801          0.451          0              90             0              50
  13  Tomato          1.135          1.042          4.808          0              0              0              54
  14  PepperShaker    -0.399         0.755          6.895          0              135            0              89
  15  PepperShaker    1.445          2.202          3.840          0              0              0              57
  16  SaltShaker      1.314          0.987          0.668          0              0              0              53
  17  SaltShaker      0.058          0.755          6.261          0              135            0              89
  18  Bowl            1.543          1.576          1.166          0              0              0              63
  19  Bread           1.099          1.048          0.434          0              0              0              53
  20  Egg             1.276          0.941          2.474          0              90             0              76
  21  Knife           0.668          0.802          0.563          0              270            0              45
  22  Fork            0.803          0.772          0.507          0              0              0              45
  23  Apple           1.497          0.965          2.627          0              90             0              76
  24  Kettle          1.322          0.141          2.498          0              0              0              65
  25  Plate           -0.611         0.993          0.395          0              0              0              53
  26  SaltShaker      1.140          1.574          0.119          0              0              0              67
  27  Lettuce         1.449          0.932          2.050          0              0              0              76
  28  SoapBottle      0.212          0.760          6.196          0              135            0              89
  29  Spatula         1.459          0.786          3.291          0              90             0              46
  30  PaperTowelRoll  -0.181         0.864          6.721          0              225            0              89
  31  Pot             1.317          0.988          4.294          0              0              0              48
  32  Potato          2.094          1.550          5.876          0              270            0              75
  33  ButterKnife     0.847          0.992          0.578          0              0              0              53
  34  PepperShaker    -0.312         0.755          6.666          0              270            0              89
  35  Pan             1.32           0.988          3.848          0              0              0              52
  36  Tomato          1.135          1.042          3.137          0              0              0              53
  37  DishSponge      -0.690         0.143          0.277          0              0              0              61
  38  Cup             0.193          0.140          0.429          0              0              0              62
  39  Spoon           1.292          0.772          3.291          0              0              0              46
  40  Mug             1.384          1.043          0.847          0              270            0              53
  41  Cabinet         1.307          2.455          4.360          0              0              0
  42  Cabinet         1.054          0.422          1.710          0              0              0
  43  Drawer          1.280          0.808          4.718          0              0              0
  44  Cabinet         1.307          2.455          3.607          0              0              0
  45  Drawer          0.736          0.802          0.521          0              0              0
  46  Drawer          1.276          0.802          3.291          0              0              0
  47  StoveBurner     1.562          0.982          3.848          0              0              0
  48  StoveBurner     1.317          0.982          4.294          0              0              0
  49  Drawer          -0.482         0.802          0.521          0              0              0
  50  Drawer          0.124          0.802          0.521          0              0              0
  51  StoveBurner     1.559          0.982          4.294          0              0              0
  52  StoveBurner     1.320          0.982          3.848          0              0              0
  53  CounterTop      1.391          1.028          0.897          0              0              0
  54  CounterTop      1.391          1.028          4.716          0              0              0
  55  Cabinet         1.054          0.422          4.548          0              0              0
  56  Cabinet         1.317          2.134          0.517          0              0              0
  57  Cabinet         1.317          2.134          4.889          0              0              0
  58  Cabinet         1.317          2.134          3.095          0              0              0
  59  Cabinet         0.443          0.422          0.743          0              0              0
  60  Cabinet         1.270          2.134          0.434          0              0              0
  61  Cabinet         -0.775         0.422          0.743          0              0              0
  62  Cabinet         -0.168         0.422          0.743          0              0              0
  63  Cabinet         1.317          2.134          1.534          0              0              0
  64  Cabinet         1.054          0.422          2.990          0              0              0
  65  Cabinet         1.054          0.422          2.944          0              0              0
  66  Cabinet         -0.263         2.134          0.434          0              0              0
  67  Cabinet         0.252          2.134          0.434          0              0              0
  68  Sink            1.391          1.006          2.326          0              0              0
  69  Microwave       0.108          0.981          0.262          0              0              0
  70  HousePlant      -0.165         0.826          6.444          0              0              0
  71  CoffeeMachine   1.551          0.982          0.953          0              270            0
  72  Toaster         1.473          0.981          4.715          0              270            0
  73  Window          -2.065         1.916          3.626          90             90             0
  74  Window          1.763          2.007          2.299          90             270            0
  75  Fridge          2.035          0.0            5.625          0              0              0
  76  SinkBasin       1.387          0.880          2.338          0              90             0
  77  GarbageCan      2.001          -0.044         6.503          0              0              0
  78  StoveKnob       1.140          0.934          3.987          45             270            0
  79  StoveKnob       1.140          0.934          4.309          45             270            0
  80  StoveKnob       1.140          0.934          4.140          45             270            0
  81  StoveKnob       1.140          0.934          3.824          45             270            0
  82  Vase            -0.226         0.834          6.993          0              0              0
  83  Vase            2.098          0.043          7.070          0              257.232        0
  84  Vase            -0.594         0.835          6.130          0              225            0
  85  LightSwitch     -2.0           1.549          6.045          0              90             0
  86  Safe            2.046          1.072          7.054          0              257.232        0
  87  Faucet          1.534          1.025          2.371          0              294.391        0
  88  Blinds          1.738          2.563          2.312          0              90             0
  89  DiningTable     -0.156         0.000          6.474          0              0              0
  90  Chair           0.291          0.002          6.142          0              310.162        0
  91  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1:  turn and  walk to the counter with the knife | STEP 2:  Pick up the knife    that is on the counter

 | STEP 3:  Take the knife to the sink that is on the left | STEP 4:  cut the Apple  that is in the sink on the left

 | STEP 5:  put the knife in the sink on the right
 | STEP 6:  pick up the Apple  and turn towards the microwave

 | STEP 7:  walk over to the microwave
 | STEP 8:  put the Apple in the microwave
 | STEP 9:  close to microwave and cook the apple
 | STEP 10:  take the Apple out of the microwave


 take the Apple out of the microwave
 | STEP 11:  walk back over to the sink | STEP 12: put the Apple in the sink on the right | END