Task: put a pot with an apple and a knife 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           1.75           0.900          1.25           0              0              0
   1  Book            -0.197         1.110          -0.001         0              0              0              58
   2  CreditCard      1.686          0.877          -2.617         0              180            0              85
   3  CreditCard      1.893          0.550          -2.459         0              180            0              88
   4  Plate           -1.755         0.133          -1.856         0              90             0              59
   5  Plate           -1.346         1.655          -2.604         0              0              0              74
   6  Cup             1.789          0.878          -2.617         0              180            0              85
   7  Cup             0.969          0.908          -2.637         0              0              0              60
   8  Tomato          -1.937         0.950          -0.884         0              0              0              83
   9  SaltShaker      1.893          0.549          -2.666         0              180            0              88
  10  PepperShaker    -1.868         0.474          -0.196         0              90             0              73
  11  Apple           0.079          1.162          -0.506         0              0              0              58
  12  Apple           0.355          1.162          -0.506         0              0              0              58
  13  Apple           -1.907         0.098          2.076          0              270            0              89
  14  Knife           0.969          0.936          -2.407         0              0              0              60
  15  Fork            0.453          0.911          -2.330         0              0              0              60
  16  Spatula         -0.059         1.126          0.757          0              0              0              58
  17  ButterKnife     0.582          0.910          -2.560         0              0              0              60
  18  ButterKnife     0.217          1.111          -0.253         0              0              0              58
  19  Kettle          -0.036         0.950          -2.576         0              270            0              61
  20  Glassbottle     -1.962         0.048          1.933          0              270            0              89
  21  WineBottle      -1.615         0.130          0.248          0              90             0              64
  22  Bowl            -2.019         0.908          -2.256         0              0              0              83
  23  Book            0.155          1.1            0.617          0              315            0              58
  24  Glassbottle     -0.782         1.657          -2.676         0              0              0              72
  25  Knife           -1.693         0.936          -2.146         0              0              0              83
  26  Bread           -2.019         0.983          -0.698         0              0              0              83
  27  Fork            1.098          0.911          -2.484         0              0              0              60
  28  Potato          -2.158         1.336          0.841          0              90             0              91
  29  SoapBottle      1.584          0.881          -2.617         0              180            0              85
  30  Kettle          -1.013         1.657          -2.640         0              0              0              74
  31  Pan             -0.465         0.950          -2.372         0              90             0              56
  32  Plate           -1.586         0.908          -2.329         0              0              0              83
  33  Tomato          -2.121         0.579          0.920          0              90             0              91
  34  Vase            -0.473         1.113          -0.759         0              0              0              58
  35  Egg             -1.290         0.946          -2.637         0              0              0              83
  36  CreditCard      0.969          0.907          -2.253         0              0              0              60
  37  Statue          1.955          0.168          -2.543         0              0              0              90
  38  WineBottle      -0.473         1.112          0.757          0              0              0              58
  39  Pot             -0.335         1.115          0.504          0              0              0              58
  40  Spatula         0.951          0.330          -2.431         0              90             0              62
  41  PaperTowelRoll  0.582          1.014          -2.484         0              0              0              60
  42  Cup             -0.328         1.788          -2.578         0              0              0              84
  43  Vase            -1.567         1.656          -2.641         0              0              0              74
  44  Bowl            -2.081         1.499          0.925          0              90             0              91
  45  SaltShaker      1.121          0.138          -2.479         0              0              0              78
  46  PepperShaker    1.119          1.657          -2.673         0              0              0              80
  47  Lettuce         0.079          1.191          -0.001         0              0              0              58
  48  ButterKnife     -0.335         1.111          -0.506         0              0              0              58
  49  Apple           -0.173         1.841          -2.546         0              0              0              84
  50  DishSponge      0.834          0.645          -2.459         0              0              0              63
  51  Spoon           0.217          1.112          -0.000         0              0              0              58
  52  Mug             1.996          0.548          -2.614         0              180            0              88
  53  StoveBurner     -0.036         0.915          -2.372         0              0              0
  54  Drawer          0.949          0.832          -2.197         0              0              0
  55  Drawer          -1.560         0.839          0.204          0              90             0
  56  StoveBurner     -0.465         0.915          -2.371         0              180            0
  57  Drawer          -1.560         0.839          -0.197         0              90             0
  58  CounterTop      -0.079         1.147          -0.001         0              0              0
  59  Cabinet         -1.549         0.494          -1.964         0              90             0
  60  CounterTop      0.693          0.946          -2.483         0              0              0
  61  StoveBurner     -0.036         0.915          -2.576         0              0              0
  62  Drawer          0.949          0.393          -2.200         0              0              0
  63  Drawer          0.949          0.708          -2.200         0              0              0
  64  Cabinet         -1.549         0.494          0.379          0              90             0
  65  StoveKnob       -0.022         0.881          -2.187         45             0              0
  66  Drawer          0.949          0.560          -2.201         0              0              0
  67  StoveBurner     -0.465         0.915          -2.575         0              180            0
  68  Window          -2.230         1.429          -1.203         0              0              0
  69  StoveKnob       -0.483         0.881          -2.187         45             0              0
  70  Sink            -1.899         0.964          -1.5           0              90             0
  71  StoveKnob       -0.328         0.881          -2.187         45             0              0
  72  Cabinet         -0.727         2.015          -2.460         0              0              0
  73  Drawer          -1.560         0.655          -0.196         0              90             0
  74  Cabinet         -1.685         2.015          -2.461         0              0              0
  75  Cabinet         0.680          0.494          -2.200         0              0              0
  76  Cabinet         -1.179         0.494          -2.200         0              0              0
  77  Cabinet         -1.849         2.015          0.379          0              90             0
  78  Drawer          0.949          0.221          -2.200         0              0              0
  79  StoveKnob       -0.183         0.881          -2.187         45             0              0
  80  Cabinet         0.719          2.015          -2.460         0              0              0
  81  Drawer          -1.560         0.331          -0.196         0              90             0
  82  Cabinet         0.680          2.015          -2.460         0              0              0
  83  CounterTop      -1.868         0.946          -1.205         0              0              0
  84  Microwave       -0.236         1.689          -2.525         0              0              0
  85  Shelf           1.751          0.880          -2.560         0              0              0
  86  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  87  Toaster         -1.835         0.900          0.134          0              90             0
  88  Shelf           1.750          0.552          -2.559         0              0              0
  89  GarbageCan      -1.935         -0.002         2.029          0              270            0
  90  Shelf           1.750          0.172          -2.559         0              0              0
  91  Fridge          -2.096         0.0            1.088          0              0              0
  92  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  93  SinkBasin       -1.908         0.759          -1.488         0              90             0
  94  LightSwitch     2.329          1.309          -0.159         0              270            0
  95  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  96  Stool           0.702          0.000          -0.514         1.202          65.108         0
  97  Stool           0.743          0.000          0.563          1.227          106.706        0
  98  Faucet          -2.070         1.132          -1.514         0              0              0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: go to the sink | STEP 2: pick up the knife from the counter | STEP 3: take the knife to the microwave | STEP 4: put the knife in the microwave, then remove | STEP 5: take the knife to the island | STEP 6: put the knife in the pot on the counter | STEP 7: go to the microwave | STEP 8: take the apple slice from the microwave | STEP 9: take the slice to the pot on the island counter | STEP 10: put the slice in the pot | STEP 11: pick up the pot | STEP 12: take the pot to the sink | STEP 13: put the pot  in the sink | END