Task: Put a cooked piece of apple in 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           -1.5           0.900          1.5            0              0              0
   1  Pan             -2.59          0.9            -1.147         0              0              0              70
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              70
   3  DishSponge      -2.499         0.746          -0.027         0              0              0              68
   4  Kettle          -2.622         0.928          -0.711         0              0              0              61
   5  Kettle          0.829          0.118          -1.014         0              180            0              50
   6  Pot             -2.800         0.821          0.852          0              90             0              82
   7  Fork            -1.332         0.850          -1.305         0              90             0              80
   8  Spatula         -1.505         0.864          -1.139         0              270            0              80
   9  Spatula         -2.521         0.926          0.359          0              270            0              68
  10  Cup             -2.680         1.671          0.771          0              90             0              82
  11  Plate           -2.847         1.666          0.233          0              0              0              56
  12  Egg             0.294          1.040          -1.347         0              0              0              83
  13  SoapBottle      0.842          0.912          -1.032         0              0              0              70
  14  Tomato          -2.740         1.722          0.932          0              90             0              82
  15  Tomato          0.765          0.960          -1.199         0              0              0              70
  16  Bowl            -1.982         0.114          -1.056         0              0              0              46
  17  Lettuce         -2.740         0.457          0.771          0              90             0              82
  18  Lettuce         0.413          1.190          0.998          0              315            0              63
  19  PepperShaker    0.997          0.907          -1.365         0              0              0              70
  20  Apple           0.284          1.154          1.580          0              0              0              63
  21  Fork            -1.933         0.911          -1.282         0              0              0              70
  22  Kettle          -1.173         0.118          -1.068         0              0              0              43
  23  CreditCard      0.997          0.9            -0.982         0              334.941        0              70
  24  Bread           -0.401         0.948          -1.291         0              0              0              70
  25  Plate           -0.994         1.664          -1.360         0              0              0              59
  26  SoapBottle      -2.624         0.116          0.030          0              0              0              51
  27  Spatula         -2.438         0.926          -0.147         0              90             0              62
  28  Lettuce         -2.757         0.116          1.466          0              0              0              81
  29  SaltShaker      -2.695         0.9            -0.132         0              0              0              62
  30  Tomato          -2.236         0.960          -1.115         0              0              0              70
  31  PepperShaker    -2.736         2.039          0.790          0              0              0              60
  32  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              70
  33  Pot             -2.622         0.928          -0.396         0              0              0              64
  34  DishSponge      -2.774         2.043          1.222          0              0              0              55
  35  Egg             -2.853         0.946          -0.062         0              0              0              62
  36  Spoon           -0.157         0.9            -1.015         0              0              0              70
  37  Knife           0.060          1.106          1.587          270            209.997        0              63
  38  Cup             -2.920         1.472          0.932          0              90             0              82
  39  Mug             0.372          1.654          -1.353         0              0              0              49
  40  Bowl            -2.680         1.472          0.852          0              90             0              82
  41  Cabinet         -2.647         2.075          -0.875         0              0              0
  42  Cabinet         -2.647         2.075          -0.234         0              0              0
  43  Cabinet         -0.824         0.469          -0.907         0              0              0
  44  Cabinet         -1.764         2.009          -1.197         0              0              0
  45  Cabinet         -1.834         2.009          -1.197         0              0              0
  46  Cabinet         -1.850         0.389          -0.897         0              0              0
  47  Cabinet         -1.801         0.469          -0.907         0              0              0
  48  Cabinet         1.115          2.009          -1.197         0              0              0
  49  Cabinet         0.235          2.009          -1.197         0              0              0
  50  Cabinet         1.125          0.470          -0.897         0              0              0
  51  Cabinet         -2.387         0.389          0.375          0              0              0
  52  Cabinet         0.484          0.389          -0.897         0              0              0
  53  Cabinet         -2.625         2.009          -1.197         0              0              0
  54  Cabinet         -2.647         2.009          -0.945         0              0              0
  55  Cabinet         -2.647         2.200          1.664          0              0              0
  56  Cabinet         -2.647         2.009          0.364          0              0              0
  57  Cabinet         0.164          2.009          -1.197         0              0              0
  58  Cabinet         -0.765         2.009          -1.197         0              0              0
  59  Cabinet         -0.834         2.009          -1.197         0              0              0
  60  Cabinet         -2.647         2.200          0.434          0              0              0
  61  StoveBurner     -2.622         0.886          -0.711         0              0              0
  62  CounterTop      -2.699         0.946          0.106          0              0              0
  63  CounterTop      0.908          1.147          0.788          0              315            0
  64  StoveBurner     -2.622         0.886          -0.396         0              0              0
  65  Drawer          -2.026         0.779          -1.082         0              0              0
  66  Sink            -1.328         0.916          -1.225         0              0              0
  67  StoveBurner     -2.822         0.886          -0.711         0              0              0
  68  Drawer          -2.572         0.779          0.099          0              0              0
  69  StoveBurner     -2.822         0.886          -0.396         0              0              0
  70  CounterTop      0.071          0.946          -1.199         0              0              0
  71  Drawer          0.254          0.779          -1.082         0              0              0
  72  LightSwitch     -1.167         1.307          3.0            0              180            0
  73  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  74  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  75  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  76  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  78  Window          0.321          1.449          3.088          90             0              0
  79  Toaster         -2.823         0.899          0.246          0              90             0
  80  SinkBasin       -1.344         0.838          -1.25          0              0              0
  81  GarbageCan      -2.757         1.886          1.466          0              0              0
  82  Fridge          -2.855         0.0            0.851          0              0              0
  83  Microwave       0.283          0.900          -1.331         0              0              0
  84  Stool           1.541          0.010          1.328          0              45             0
  85  Stool           0.983          0.010          1.793          0              47.459         0
  86  Faucet          -1.392         1.136          -1.399         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn right, go straight to the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go to the other side of the counter, facing towards the microwave. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Go around the counter to the right, then go straight to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Turn around, go back across the room to the other side of the counter facing the microwave. | STEP 8: Take a piece of apple from the counter. | STEP 9: Go around the counter to the right, then go straight 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 between the fork and the spatula. | END