Task: Put a cooked piece of apple in a 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 around, go forward to the stove top, turn right, go forward, turn right at the kitchen island. | STEP 2: Take the knife next to the cell phone from the counter. | STEP 3: Move to the left a step and face the pot on the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Turn right, go forward to the stove top, turn left, go forward and to the left to the right side of the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go forward to the stove top, turn right, go forward, turn right at the kitchen island where the pot is. | STEP 8: Take a piece of apple from the counter. | STEP 9: Turn left, go forward to the wall, turn left, go forward to the microwave. | STEP 10: Cook the apple in the microwave, take the apple from the microwave. | STEP 11: Turn left, go forward to the stove top, turn left, go forward and to the left to the right side of the sink. | STEP 12: Put the piece of apple in the sink to the right of the tomato. | END