Task: place a cooked apple into 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           -1.0           0.900          2.5            0              270            0
   1  Potato          -2.678         1.650          2.277          0              90             0              74
   2  DishSponge      0.704          0.125          2.611          0              0              0              49
   3  ButterKnife     -0.921         0.900          1.349          0              180            0              83
   4  Spatula         -1.053         0.915          1.349          0              90             0              83
   5  Egg             -1.486         1.395          3.967          0              180            0              71
   6  Egg             -2.519         0.803          2.165          0              90             0              74
   7  Tomato          -2.577         0.835          2.389          0              90             0              74
   8  Bowl            -2.136         1.396          3.936          0              0              0              43
   9  PepperShaker    -1.204         1.679          4.014          0              0              0              70
  10  PepperShaker    1.099          0.819          1.072          0              0              0              42
  11  SaltShaker      -0.921         0.896          1.246          0              90             0              83
  12  Lettuce         -1.317         0.976          1.246          0              90             0              83
  13  Mug             -2.463         1.844          1.599          0              0              0              60
  14  Plate           0.860          0.812          0.976          0              0              0              42
  15  Fork            0.875          0.823          2.198          0              270            0              47
  16  Bread           0.827          0.861          2.449          0              0              0              42
  17  Spatula         0.650          0.838          0.895          0              90             0              42
  18  PaperTowelRoll  0.902          0.128          2.918          0              0              0              76
  19  Potato          -2.636         1.038          2.221          0              90             0              74
  20  SoapBottle      -0.921         0.900          1.452          0              90             0              83
  21  Egg             0.960          0.060          2.889          0              0              0              76
  22  Cup             -1.905         1.683          3.975          0              0              0              37
  23  Pot             0.913          0.850          1.768          0              0              0              63
  24  SaltShaker      -2.478         1.038          1.144          0              0              0              45
  25  Pan             -2.667         0.812          3.74           0              137.145        0              65
  26  PepperShaker    -2.851         0.819          3.256          0              0              0              65
  27  ButterKnife     -0.657         0.900          1.246          0              90             0              83
  28  Tomato          -0.657         0.969          1.555          0              90             0              83
  29  DishSponge      0.703          0.125          0.903          0              0              0              44
  30  Lettuce         -0.580         0.956          1.358          31.822         0              0              83
  31  Spoon           0.635          0.693          2.163          0              90             0              36
  32  Apple           -1.185         0.961          1.555          0              90             0              83
  33  Knife           -2.291         0.819          3.615          90             0              0              65
  34  Mug             -1.109         0.940          1.203          0              0              0              83
  35  Bowl            -2.677         1.406          2.221          0              90             0              74
  36  Drawer          0.729          0.703          2.199          0              0              0
  37  Cabinet         -1.962         1.926          3.733          0              0              0
  38  Cabinet         -2.377         2.014          1.058          0              0              0
  39  Drawer          0.729          0.703          2.532          0              0              0
  40  Cabinet         -2.622         1.925          3.733          0              0              0
  41  StoveBurner     0.913          0.843          1.375          0              0              0
  42  CounterTop      0.864          0.858          0.984          0              0              0
  43  Cabinet         -1.976         1.779          3.734          0              0              0
  44  Cabinet         0.580          0.385          0.819          0              0              0
  45  Cabinet         -2.379         1.408          1.677          0              0              0
  46  Cabinet         -0.419         1.703          3.736          0              0              0
  47  CounterTop      0.864          0.858          2.371          0              0              0
  48  Sink            -1.702         0.726          3.828          0              180            0
  49  Cabinet         0.580          0.385          2.694          0              0              0
  50  Cabinet         -2.379         0.637          1.677          0              0              0
  51  Cabinet         -0.419         0.674          3.736          0              0              0
  52  Cabinet         -2.377         2.014          2.558          0              0              0
  53  Drawer          0.729          0.703          0.980          0              0              0
  54  Drawer          -2.114         0.706          3.657          0              0              0
  55  Cabinet         -2.377         1.691          2.572          0              0              0
  56  Cabinet         -2.951         1.925          3.733          0              0              0
  57  Cabinet         0.580          0.385          2.360          0              0              0
  58  Cabinet         -2.426         0.435          3.421          0              0              0
  59  StoveBurner     0.642          0.843          1.375          0              0              0
  60  Cabinet         -2.377         1.927          1.686          0              0              0
  61  Cabinet         -2.377         2.013          3.177          0              0              0
  62  Cabinet         -1.136         0.385          3.516          0              0              0
  63  StoveBurner     0.913          0.843          1.768          0              0              0
  64  Cabinet         -1.974         0.385          3.516          0              0              0
  65  CounterTop      -2.081         0.858          3.799          0              0              0
  66  Cabinet         -2.426         0.435          3.174          0              0              0
  67  Cabinet         -2.377         2.014          1.693          0              0              0
  68  Cabinet         -1.986         0.385          3.511          0              0              0
  69  StoveBurner     0.642          0.843          1.768          0              0              0
  70  Cabinet         -1.098         1.926          3.729          0              0              0
  71  Microwave       -1.529         1.250          3.881          1.622          180            0
  72  CoffeeMachine   1.000          0.812          2.492          0              270            0
  73  LightSwitch     0.825          1.396          4.082          0              180            0
  74  Fridge          -2.642         0.0            2.134          0              180            0
  75  Window          -1.131         1.673          0.808          90             0              0
  76  GarbageCan      0.931          -0.000         2.918          0              0              0
  77  SinkBasin       -1.601         0.686          3.774          0              0              0
  78  StoveKnob       1.104          1.002          1.886          0              0              70.346
  79  StoveKnob       1.104          1.002          1.733          0              0              70.346
  80  StoveKnob       1.104          1.002          1.321          0              0              70.346
  81  StoveKnob       1.104          1.002          1.481          0              0              70.346
  82  Toaster         -2.247         0.812          3.862          0              180            0
  83  DiningTable     -0.917         -0.000         1.203          0              0              0
  84  Stool           -0.932         0.000          1.404          1.196          21.715         0
  85  Faucet          -1.842         0.809          3.984          0              180            0
  86  Faucet          -1.371         0.809          3.985          0              180            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: walk to face white table | STEP 2: pick up golden apple from table | STEP 3: walk to face microwave | STEP 4: cook apple in microwave, pick up apple from microwave | STEP 5: walk to face kitchen sinks | STEP 6: put apple into right sink basin | END