Task: Put a cooked apple in a bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          -0.5           0              180            0
   1  Pan             1.007          0.962          0.561          0              270            0              56
   2  Potato          0.804          0.949          -1.782         0              270            0              52
   3  Potato          -1.791         0.982          0.704          0              90             0              87
   4  DishSponge      0.209          0.108          -1.547         0              180            0              51
   5  DishSponge      -0.329         0.069          0.526          0              90             0              83
   6  ButterKnife     -1.928         0.952          0.524          0              0              0              87
   7  Fork            0.167          0.912          0.209          0              0              0              53
   8  Fork            -2.614         0.952          0.524          0              270            0              87
   9  Spoon           1.724          0.913          0.209          0              0              0              69
  10  Spoon           -1.791         0.953          0.524          0              270            0              87
  11  Spatula         -2.340         0.967          0.345          0              270            0              87
  12  Egg             -2.397         1.522          -1.720         0              0              0              84
  13  Cup             -1.872         1.491          -1.763         0              0              0              84
  14  Plate           -2.135         0.512          -1.763         0              0              0              84
  15  Plate           -2.614         0.953          0.255          0              90             0              87
  16  Knife           0.701          0.944          -1.649         0              270            0              52
  17  Knife           -1.928         0.977          0.345          0              270            0              87
  18  Tomato          0.432          0.961          0.209          0              0              0              53
  19  Tomato          -2.135         1.541          -1.849         0              0              0              84
  20  Bowl            -1.928         0.951          0.614          0              90             0              87
  21  Bowl            -0.359         0.911          -1.654         0              0              0              54
  22  SaltShaker      -0.079         0.102          0.397          0              0              0              64
  23  PepperShaker    -1.928         0.948          0.255          0              90             0              87
  24  PepperShaker    1.907          0.908          0.458          0              0              0              69
  25  Bread           1.724          0.995          0.458          0              0              0              69
  26  Knife           0.035          0.937          0.623          0              180            0              53
  27  Fork            -1.099         0.774          -1.505         0              0              0              67
  28  Bowl            -2.222         0.780          -1.763         0              0              0              84
  29  Kettle          -0.493         1.329          -1.772         0              180            0              48
  30  Cup             -2.065         0.950          0.165          0              90             0              87
  31  Tomato          -1.96          0.318          -1.644         0              0              0              84
  32  SoapBottle      1.724          0.910          0.706          0              0              0              69
  33  Plate           -0.634         0.111          -1.508         0              0              0              68
  34  Pot             1.361          0.962          0.561          0              270            0              59
  35  Spatula         -2.477         0.967          0.435          0              180            0              87
  36  PaperTowelRoll  -2.340         1.056          0.704          0              90             0              87
  37  Egg             0.649          0.954          -1.582         0              270            0              52
  38  Lettuce         -0.082         1.002          -1.489         0              0              0              54
  39  SaltShaker      -2.340         0.948          0.345          0              90             0              87
  40  PepperShaker    0.504          0.106          0.383          0              0              0              65
  41  Apple           -0.175         0.979          -1.820         0              0              0              54
  42  ButterKnife     -0.082         0.912          -1.737         0              0              0              54
  43  Potato          -0.394         0.100          0.396          0              90             0              83
  44  Pan             1.535          0.911          -1.820         0              180            0              54
  45  DishSponge      0.603          0.773          0.272          0              0              0              50
  46  Spoon           -1.292         0.774          -1.538         0              90             0              67
  47  Mug             0.856          0.914          -1.516         0              270            0              52
  48  Cabinet         -0.193         1.688          -1.648         0              180            0
  49  StoveBurner     1.360          0.957          0.293          0              180            0
  50  Drawer          0.499          0.792          0.296          0              0              0
  51  Cabinet         0.095          0.400          -1.352         0              180            0
  52  Sink            0.711          0.817          -1.772         0              270            0
  53  CounterTop      0.280          0.947          0.458          0              0              0
  54  CounterTop      -0.680         0.947          -1.654         0              0              0
  55  Drawer          1.825          0.792          0.296          0              0              0
  56  StoveBurner     1.007          0.957          0.561          0              270            0
  57  Drawer          -0.150         0.792          -1.496         0              0              0
  58  Drawer          -0.586         0.792          -1.496         0              0              0
  59  StoveBurner     1.360          0.957          0.561          0              270            0
  60  Drawer          0.024          0.792          0.296          0              0              0
  61  Cabinet         1.079          0.400          -1.349         0              180            0
  62  Cabinet         1.669          0.402          0.151          0              0              0
  63  Cabinet         0.055          0.402          -1.351         0              0              0
  64  Cabinet         -0.180         0.402          0.151          0              0              0
  65  Cabinet         0.729          0.402          0.151          0              0              0
  66  StoveBurner     1.007          0.957          0.293          0              180            0
  67  Drawer          -1.100         0.792          -1.496         0              0              0
  68  Cabinet         -0.396         0.402          -1.351         0              0              0
  69  CounterTop      1.776          0.947          0.458          0              0              0
  70  Cabinet         1.974          1.688          -1.648         0              180            0
  71  Cabinet         -0.820         0.400          -1.349         0              180            0
  72  Toaster         0.305          0.900          0.552          0              180            0
  73  LightSwitch     -2.756         1.307          -0.987         0              90             0
  74  Window          0.582          1.613          -1.967         90             0              0
  75  Window          1.969          1.5            -0.615         90             270            0
  76  Microwave       -1.037         0.900          -1.723         0              0              0
  77  SinkBasin       0.377          0.765          -1.655         0              270            0
  78  CoffeeMachine   0.618          0.900          0.600          0              180            0
  79  StoveKnob       1.246          0.913          0.118          45             180            0
  80  StoveKnob       1.373          0.913          0.118          45             180            0
  81  StoveKnob       0.995          0.913          0.118          45             180            0
  82  StoveKnob       1.126          0.913          0.118          45             180            0
  83  GarbageCan      -0.368         -0.029         0.539          0              90             0
  84  Fridge          -2.134         0.0            -1.690         0              0              0
  85  Faucet          0.549          1.046          -1.833         0              232.527        0
  86  Stool           -1.475         0.000          0.414          1.233          280.375        0
  87  DiningTable     -2.255         -0.004         0.432          0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn left, go to the counter to the right of the sink where the lettuce is. | STEP 2: Take the knife close to the lettuce from the counter. | STEP 3: Go a little to the right in front of the apple on the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Go to the microwave to the right. | STEP 6: Put the knife in the microwave. | STEP 7: Go back to the left to the counter area with the apple and lettuce. | STEP 8: Take a piece of apple from the counter. | STEP 9: Go back to the microwave to the right. | STEP 10: Cook the apple in the microwave. Take the apple from the microwave. | STEP 11: Turn around, go to the wall across the room, turn right to the green bin. | STEP 12: Put the apple in the bin. | END