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          -0.25          0              0              0
   1  Potato          0.522          0.959          0.305          0              0              0              80
   2  Ladle           0.294          0.971          1.448          0              180            0              80
   3  Ladle           1.909          1.702          -1.737         0              270            0              53
   4  ButterKnife     0.294          0.926          0.762          0              90             0              80
   5  Spatula         1.738          0.928          -1.680         0              0              0              63
   6  Spatula         -0.047         0.945          1.220          0              0              0              80
   7  Spoon           1.647          0.914          -1.446         0              0              0              63
   8  Spoon           -0.772         0.914          -2.233         0              90             0              63
   9  Fork            1.919          0.914          -1.095         0              270            0              63
  10  Plate           0.408          0.930          0.076          0              0              0              80
  11  Plate           0.408          0.930          0.762          0              0              0              80
  12  Tomato          0.180          0.982          0.305          0              0              0              80
  13  Tomato          0.066          0.978          0.991          0              0              0              80
  14  Bowl            -1.533         1.501          -0.910         0              90             0              71
  15  Lettuce         -0.160         1.008          0.305          0              0              0              80
  16  SaltShaker      1.773          0.549          2.482          0              0              0              83
  17  PepperShaker    1.748          0.116          -1.135         0              270            0              63
  18  Bread           -0.047         0.972          0.762          0              0              0              80
  19  Apple           0.180          1.001          1.220          0              0              0              80
  20  Apple           0.294          1.001          0.534          0              0              0              80
  21  Apple           0.180          1.001          0.534          0              0              0              80
  22  Potato          -1.000         0.942          -2.151         0              0              0              63
  23  Bowl            1.572          0.117          -1.332         0              270            0              57
  24  SoapBottle      -0.927         0.912          -2.115         0              0              0              63
  25  Fork            0.066          0.931          0.762          0              180            0              80
  26  Ladle           0.294          0.971          1.220          0              0              0              80
  27  Bread           -1.495         1.228          -0.910         0              90             0              71
  28  Lettuce         -1.429         0.925          -0.542         0              315            0              71
  29  WineBottle      0.066          0.927          1.448          0              0              0              80
  30  Spatula         0.457          0.928          -2.002         0              90             0              63
  31  Plate           -1.495         1.187          -0.495         0              90             0              71
  32  SaltShaker      -0.564         0.909          -2.134         0              0              0              63
  33  Pot             1.567          0.948          -0.757         0              0              0              45
  34  Cup             -1.355         1.659          -1.604         0              90             0              46
  35  PepperShaker    -1.109         0.909          -2.115         0              0              0              63
  36  Pan             1.845          0.948          -0.355         0              0              0              44
  37  ButterKnife     -0.230         0.913          -1.713         0              0              0              63
  38  Tomato          0.180          0.978          1.448          0              0              0              80
  39  DishSponge      -1.036         0.913          -2.260         0              0              0              63
  40  Egg             -0.356         0.818          -1.936         0              0              0              75
  41  Spoon           -0.064         0.765          -2.071         0              0              0              75
  42  Knife           0.522          0.950          0.991          0              90             0              80
  43  Mug             1.261          0.951          -1.934         0              0              0              73
  44  StoveBurner     1.845          0.940          -0.355         0              0              0
  45  StoveBurner     1.567          0.940          -0.757         0              0              0
  46  Cabinet         -1.149         2.019          -1.979         0              90             0
  47  Cabinet         -1.149         2.265          -0.834         0              90             0
  48  Cabinet         -0.459         2.265          -2.0           0              0              0
  49  Cabinet         -1.100         2.019          -2.0           0              0              0
  50  Cabinet         1.719          2.019          -2.0           0              0              0
  51  Cabinet         1.179          2.019          -2.0           0              0              0
  52  Cabinet         0.199          2.019          -2.0           0              0              0
  53  Cabinet         1.75           2.019          -1.399         0              270            0
  54  Cabinet         1.75           2.019          -1.029         0              270            0
  55  Cabinet         1.379          0.469          -1.689         0              0              0
  56  Cabinet         -0.819         0.469          -1.689         0              0              0
  57  Cabinet         1.389          0.469          -1.059         0              270            0
  58  Cabinet         -0.839         0.469          -1.665         0              90             0
  59  StoveBurner     1.567          0.940          -0.355         0              0              0
  60  StoveBurner     1.845          0.940          -0.757         0              0              0
  61  Sink            -0.109         0.893          -2.009         0              0              0
  62  Drawer          -0.819         0.75           -1.690         0              0              0
  63  CounterTop      0.232          0.949          -2.002         0              0              0
  64  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  65  Vase            0.251          0.546          0.475          0              270            0
  66  Toaster         0.780          0.900          -2.080         0              0              0
  67  LightSwitch     0.108          1.315          2.75           0              180            0
  68  Vase            0.400          0.925          0.218          0              180            0
  69  Microwave       -1.233         0.900          -1.680         0              90             0
  70  Vase            1.465          1.662          -2.200         0              0              0
  71  Fridge          -1.495         0.0            -0.703         0              0              0
  72  Window          2.114          1.495          1.072          90             270            0
  73  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  74  Vase            0.333          0.546          1.272          0              270            0
  75  SinkBasin       -0.148         0.753          -2.026         0              0              0
  76  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  80  DiningTable     0.170          0.005          0.678          0              270            0
  81  Shelf           0.170          0.155          0.678          0              270            0
  82  Shelf           1.605          0.172          2.480          0              0              0
  83  Shelf           1.605          0.552          2.480          0              0              0
  84  Shelf           1.604          0.880          2.479          0              0              0
  85  ShelvingUnit    1.605          0.006          2.480          0              0              0
  86  Faucet          -0.143         1.028          -2.223         0              270            0
  87  Stool           -0.553         0.000          0.871          1.233          280.376        0
  88  Shelf           0.170          0.528          0.678          0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn around, go forward to the sink. | STEP 2: Take the knife in front of the sink. | STEP 3: Turn around, go forward to the left of the table, face the table. | STEP 4: Cut the closest apple on the table into pieces. | STEP 5: Turn right, go forward to the sink. | STEP 6: Put the knife in the cabinet to the bottom right of the sink. | STEP 7: Turn around, go back to the table with the cut apple. | STEP 8: Take a piece of apple from the table. | STEP 9: Turn right, go forward to the sink. Turn to the right. | STEP 10: Cook the apple in the microwave then take it out. | STEP 11: Turn left to the sink. | STEP 12: Put the piece of apple in the sink. | END