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           -0.5           0.900          1.25           0              270            0
   1  CreditCard      -0.195         1.108          1.665          0              315            0              69
   2  CreditCard      -2.542         0.743          0.163          0              0              0              76
   3  DishSponge      0.307          0.747          -1.052         0              0              0              77
   4  DishSponge      -1.441         1.662          -1.397         0              0              0              50
   5  ButterKnife     -1.933         0.911          -0.948         0              0              0              76
   6  Spoon           -1.987         0.748          -1.051         0              0              0              71
   7  Spoon           0.913          1.112          0.806          0              315            0              69
   8  Spatula         -1.933         0.926          -1.282         0              0              0              76
   9  Cup             -2.619         0.377          0.932          0              90             0              88
  10  Knife           0.394          1.134          1.325          0              315            0              69
  11  Knife           0.765          0.934          -1.365         0              0              0              76
  12  SoapBottle      -2.521         0.912          -0.062         0              0              0              68
  13  SoapBottle      0.809          1.663          -1.435         0              0              0              54
  14  Tomato          -2.728         0.087          1.431          0              0              0              87
  15  Bowl            0.894          1.110          1.133          0              315            0              69
  16  Bowl            0.133          1.110          1.737          0              315            0              69
  17  Lettuce         -2.800         1.553          0.690          0              90             0              88
  18  Lettuce         -2.680         0.899          0.690          0              90             0              88
  19  SaltShaker      -2.773         1.791          -0.839         0              0              0              47
  20  SaltShaker      -2.521         0.907          0.190          0              0              0              68
  21  Bread           0.920          0.965          -1.032         0              0              0              76
  22  Bread           0.759          1.166          0.652          0              315            0              69
  23  Mug             1.029          1.145          0.209          0              228.424        0              79
  24  Pan             -2.59          0.9            -1.147         0              0              0              76
  25  Apple           0.284          1.154          1.580          0              0              0              69
  26  Fork            -0.276         0.901          -1.118         0              0              0              76
  27  Kettle          -2.620         0.922          -0.724         0              0              0              67
  28  CreditCard      0.221          1.108          1.499          0              315            0              69
  29  Bread           -2.740         1.727          0.690          0              90             0              88
  30  Plate           -1.458         0.843          -1.235         0              0              0              86
  31  SoapBottle      -2.736         1.796          -0.376         0              0              0              48
  32  Spatula         0.798          1.126          1.383          0              45             0              69
  33  Lettuce         0.721          1.190          1.306          0              315            0              69
  34  SaltShaker      -0.123         1.108          1.390          0              315            0              69
  35  Tomato          -2.860         1.523          1.013          0              90             0              88
  36  PepperShaker    -2.830         0.9            -0.112         0              0              0              68
  37  ButterKnife     -2.687         0.911          -0.062         0              0              0              68
  38  Pot             -2.622         0.928          -0.396         0              0              0              70
  39  Potato          -0.598         0.933          -1.119         0              47.530         0              76
  40  DishSponge      -2.774         1.664          -1.087         0              0              0              60
  41  Egg             -2.728         0.071          1.536          0              0              0              87
  42  Spoon           -0.556         0.912          -0.948         0              0              0              76
  43  Knife           -2.542         0.769          0.099          0              0              0              74
  44  Cup             1.240          1.110          0.787          0              315            0              69
  45  Mug             -2.025         0.110          -1.093         0              0              0              52
  46  Bowl            -2.553         0.114          0.238          0              0              0              57
  47  Cabinet         -2.647         2.075          -0.875         0              0              0
  48  Cabinet         -2.647         2.075          -0.234         0              0              0
  49  Cabinet         -0.824         0.469          -0.907         0              0              0
  50  Cabinet         -1.764         2.009          -1.197         0              0              0
  51  Cabinet         -1.834         2.009          -1.197         0              0              0
  52  Cabinet         -1.850         0.389          -0.897         0              0              0
  53  Cabinet         -1.801         0.469          -0.907         0              0              0
  54  Cabinet         1.115          2.009          -1.197         0              0              0
  55  Cabinet         0.235          2.009          -1.197         0              0              0
  56  Cabinet         1.125          0.470          -0.897         0              0              0
  57  Cabinet         -2.387         0.389          0.375          0              0              0
  58  Cabinet         0.484          0.389          -0.897         0              0              0
  59  Cabinet         -2.625         2.009          -1.197         0              0              0
  60  Cabinet         -2.647         2.009          -0.945         0              0              0
  61  Cabinet         -2.647         2.200          1.664          0              0              0
  62  Cabinet         -2.647         2.009          0.364          0              0              0
  63  Cabinet         0.164          2.009          -1.197         0              0              0
  64  Cabinet         -0.765         2.009          -1.197         0              0              0
  65  Cabinet         -0.834         2.009          -1.197         0              0              0
  66  Cabinet         -2.647         2.200          0.434          0              0              0
  67  StoveBurner     -2.622         0.886          -0.711         0              0              0
  68  CounterTop      -2.699         0.946          0.106          0              0              0
  69  CounterTop      0.908          1.147          0.788          0              315            0
  70  StoveBurner     -2.622         0.886          -0.396         0              0              0
  71  Drawer          -2.026         0.779          -1.082         0              0              0
  72  Sink            -1.328         0.916          -1.225         0              0              0
  73  StoveBurner     -2.822         0.886          -0.711         0              0              0
  74  Drawer          -2.572         0.779          0.099          0              0              0
  75  StoveBurner     -2.822         0.886          -0.396         0              0              0
  76  CounterTop      0.071          0.946          -1.199         0              0              0
  77  Drawer          0.254          0.779          -1.082         0              0              0
  78  LightSwitch     -1.167         1.307          3.0            0              180            0
  79  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  80  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  81  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  82  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  83  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  84  Window          0.321          1.449          3.088          90             0              0
  85  Toaster         -2.823         0.899          0.246          0              90             0
  86  SinkBasin       -1.344         0.838          -1.25          0              0              0
  87  GarbageCan      -2.757         1.886          1.466          0              0              0
  88  Fridge          -2.855         0.0            0.851          0              0              0
  89  Microwave       0.283          0.900          -1.331         0              0              0
  90  Stool           1.541          0.010          1.328          0              45             0
  91  Stool           0.983          0.010          1.793          0              47.459         0
  92  Faucet          -1.392         1.136          -1.399         0              270            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Go straight and to the left to the counter to the left of the fridge. | STEP 2: Take the knife from the counter. | STEP 3: Turn right, go to the door, turn right, go between the window and the counter, face the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Go around the counter to the right and go to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Turn around, go back to the area between the window and the counter and face the counter. | STEP 8: Take a piece of apple from the counter. | STEP 9: Go around the counter to the right and go to the microwave. | STEP 10: Cook the apple in the microwave, take the apple from the microwave. | STEP 11: Turn right, go to the sink. | STEP 12: Put the apple in the sink. | END