Task: Putting a sliced apple into 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           -2.75          0.900          3.0            0              90             0
   1  Potato          -0.415         1.078          2.369          0              0              0              47
   2  Potato          -3.266         0.758          2.849          0              90             0              64
   3  Ladle           -0.538         1.087          3.042          0              0              0              47
   4  DishSponge      -3.798         0.112          2.038          0              0              0              68
   5  Fork            -0.415         1.047          2.593          0              0              0              47
   6  Fork            -2.509         0.903          0.578          0              0              0              56
   7  Cup             -3.320         0.920          2.419          0              90             0              64
   8  Cup             -2.388         1.122          0.095          0              0              0              57
   9  Knife           -2.388         1.157          0.567          0              0              0              57
  10  Knife           -0.292         1.080          2.144          0              0              0              47
  11  SoapBottle      -1.274         0.049          0.551          0              0              0              51
  12  Tomato          -3.851         1.165          0.284          0              0              0              54
  13  Tomato          -3.644         0.153          2.008          0              0              0              68
  14  Bowl            -3.373         1.284          3.061          0              90             0              64
  15  SaltShaker      -0.538         1.043          2.369          0              0              0              47
  16  PepperShaker    -1.116         0.045          0.664          0              0              0              51
  17  PepperShaker    -2.135         0.898          0.645          0              0              0              55
  18  Lettuce         -0.908         1.125          2.144          0              0              0              47
  19  Apple           -0.785         1.114          2.817          0              0              0              47
  20  Fork            -0.715         1.125          0.659          0              0              0              59
  21  SoapBottle      -1.156         0.049          0.324          0              0              0              51
  22  Pot             -3.000         1.133          0.227          0              270            0              61
  23  Ladle           -0.662         1.086          2.817          0              0              0              47
  24  Potato          -0.908         1.077          3.266          0              0              0              47
  25  Plate           -0.662         1.046          1.920          0              0              0              47
  26  Bread           -0.908         1.134          1.920          0              0              0              47
  27  Lettuce         -0.168         1.125          2.144          0              0              0              47
  28  Spatula         -0.939         1.139          0.478          0              90             0              59
  29  Pan             -3.475         1.133          0.48           0              90             0              45
  30  Egg             -3.44          1.590          2.991          0              90             0              64
  31  Cup             -0.785         1.046          2.144          0              0              0              47
  32  SaltShaker      -1.948         0.092          0.646          0              0              0              49
  33  Knife           -0.415         1.079          2.817          0              0              0              47
  34  Bowl            -3.506         0.909          2.991          0              90             0              64
  35  PepperShaker    -3.742         1.121          0.190          0              0              0              54
  36  ButterKnife     -0.785         1.047          2.593          0              0              0              47
  37  Apple           -3.572         1.627          3.061          0              90             0              64
  38  Tomato          -0.538         1.088          2.144          0              0              0              47
  39  DishSponge      -1.601         0.048          0.381          0              0              0              62
  40  Spoon           -2.497         0.489          0.613          0              270            0              60
  41  Mug             -0.785         1.043          3.266          0              0              0              47
  42  StoveKnob       -3.322         1.053          0.709          45             0              0
  43  StoveBurner     -3.474         1.097          0.227          0              180            0
  44  Sink            -1.394         0.982          0.439          0              0              0
  45  StoveBurner     -3.474         1.097          0.479          0              180            0
  46  StoveKnob       -3.164         1.053          0.709          45             0              0
  47  DiningTable     -0.620         0.017          2.486          0              0              0
  48  Drawer          -2.043         0.608          0.594          0              0              0
  49  Drawer          -2.043         0.216          0.594          0              0              0
  50  Drawer          -2.498         0.216          0.594          0              0              0
  51  Cabinet         -1.001         0.393          0.734          0              0              0
  52  StoveBurner     -3.000         1.097          0.480          0              0              0
  53  StoveKnob       -3.492         1.053          0.709          45             0              0
  54  CounterTop      -3.856         1.160          0.379          0              0              0
  55  Drawer          -2.043         0.937          0.599          0              0              0
  56  Drawer          -2.509         0.937          0.599          0              0              0
  57  CounterTop      -2.280         1.160          0.379          0              0              0
  58  StoveKnob       -2.985         1.053          0.709          45             0              0
  59  CounterTop      -0.514         1.160          0.492          0              0              0
  60  Drawer          -2.498         0.608          0.594          0              0              0
  61  StoveBurner     -3.000         1.097          0.227          0              0              0
  62  Cabinet         -1.733         0.393          0.734          0              0              0
  63  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  64  Fridge          -3.519         0.0            2.717          0              90             0
  65  Window          -1.394         1.924          0.014          90             0              0
  66  Window          -3.266         1.924          0.014          90             0              0
  67  Toaster         -0.225         1.038          2.865          0              270            0
  68  GarbageCan      -3.696         0.002          2.008          0              0              0
  69  SinkBasin       -1.389         0.921          0.428          0              0              0
  70  Microwave       -0.366         1.113          0.430          0              0              0
  71  HousePlant      -2.155         1.101          0.169          0              332.897        0
  72  LightSwitch     -2.584         1.299          3.5            0              180            0
  73  Faucet          -1.393         1.373          0.168          0              270            0
  74  NorthWall
  75  SouthWall
  76  SouthWall

Plan:
STEP 1: Head straight to the table | STEP 2: Grab the knife off of the table | STEP 3: Look down at the table | STEP 4: Cut the apple into slices | STEP 5: Turn right and head to the sink | STEP 6: Put the knife into the sink | STEP 7: Turn around and head to the table | STEP 8: Grab one of the apple slices | STEP 9: Turn right and head to the microwave | STEP 10: Heat the apple in the microwave and then take it out | STEP 11: Turn right and head to the sink | STEP 12: Put the apple into the sink | END