Task: Put a cooked piece of apple into 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           -2.25          0.901          -1.25          0              0              0
   1  DishSponge      -2.581         0.716          -0.371         0              270            0              85
   2  DishSponge      -1.707         0.790          -3.832         0              0              0              83
   3  ButterKnife     -3.477         0.913          -3.428         0              0              0              41
   4  ButterKnife     -0.095         0.916          -1.616         0              0              0              68
   5  Spatula         -0.257         0.930          -0.542         0              0              0              68
   6  Spatula         -0.039         0.928          -3.878         0              0              0              41
   7  Spoon           -2.753         0.718          -0.785         0              135            0              85
   8  Fork            -3.066         0.714          -0.697         0              225            0              85
   9  Cup             -1.914         0.790          -3.832         0              0              0              83
  10  Cup             -3.182         1.013          -2.002         0              90             0              82
  11  Plate           -3.226         1.866          -1.974         0              0              0              51
  12  Plate           -2.519         0.711          -0.753         0              135            0              85
  13  Knife           -0.352         0.778          -1.563         0              90             0              64
  14  Tomato          -0.419         0.965          -1.370         0              0              0              68
  15  SoapBottle      -3.010         0.713          -0.552         0              225            0              85
  16  SoapBottle      -3.150         0.716          -0.620         0              270            0              85
  17  Bread           -0.854         0.954          -3.804         0              0              0              41
  18  Mug             -3.286         0.636          -2.125         0              90             0              82
  19  Mug             -2.930         0.763          -0.358         0              135            0              81
  20  Pot             -2.836         0.903          -3.745         0              92.628         0              41
  21  Egg             -0.193         0.115          0.012          0              270            0              80
  22  Cup             -2.865         0.717          -0.069         0              0              0              85
  23  Bread           -2.978         0.757          -0.785         0              225            0              85
  24  Fork            -0.530         0.747          -2.968         0              90             0              71
  25  Pan             -0.376         0.975          -2.031         0              180            0              70
  26  Potato          -3.079         1.442          -1.941         0              90             0              82
  27  Lettuce         -1.324         0.988          -3.759         1.631          253.771        357.213        41
  28  Tomato          -3.036         0.935          -2.501         0              90             0              82
  29  Apple           -1.914         0.833          -3.704         0              0              0              83
  30  SoapBottle      -2.740         0.713          -0.922         0              0              0              85
  31  Spatula         -2.632         0.728          -0.528         0              315            0              85
  32  SaltShaker      -2.865         0.713          -0.558         0              270            0              85
  33  Knife           -0.352         0.778          -2.913         0              270            0              71
  34  PepperShaker    -0.502         0.742          -3.376         0              0              0              69
  35  ButterKnife     -0.243         0.913          -3.804         0              0              0              41
  36  Plate           -3.292         0.711          -0.495         0              270            0              85
  37  DishSponge      -0.413         0.746          -3.376         0              0              0              69
  38  Spoon           -2.740         0.714          -0.211         0              90             0              85
  39  Mug             0.007          0.908          -3.012         0              0              0              41
  40  Bowl            -0.936         1.290          -3.888         0              0              0              55
  41  CounterTop      -1.789         0.949          -3.803         0              0              0
  42  Cabinet         -0.577         0.388          -3.476         0              0              0
  43  Cabinet         -0.605         0.388          -3.511         0              0              0
  44  Cabinet         -2.976         0.388          -3.201         0              0              0
  45  Cabinet         -0.577         0.388          -0.447         0              0              0
  46  Cabinet         -0.577         0.388          -1.725         0              0              0
  47  Cabinet         -0.226         1.803          -1.743         0              0              0
  48  Cabinet         -0.228         1.799          -0.447         0              0              0
  49  Cabinet         -6.010         1.139          -6.019         0              0              0
  50  Cabinet         -3.022         2.098          -2.681         0              0              0
  51  Cabinet         -3.022         2.098          -1.743         0              0              0
  52  Cabinet         -0.577         0.388          -2.736         0              0              0
  53  Cabinet         -3.232         1.803          -3.343         0              0              0
  54  Cabinet         -2.811         1.810          -3.764         0              0              0
  55  Cabinet         -1.233         1.810          -3.764         0              0              0
  56  Cabinet         -1.364         0.388          -3.511         0              0              0
  57  Cabinet         -1.380         0.388          -3.511         0              0              0
  58  Cabinet         -0.226         1.803          -2.725         0              0              0
  59  Cabinet         -0.236         2.098          -1.767         0              0              0
  60  Cabinet         -0.236         2.098          -2.705         0              0              0
  61  Cabinet         -0.193         1.210          -4.239         0              0              0
  62  Cabinet         -2.148         0.388          -3.511         0              0              0
  63  Drawer          -3.104         0.797          -2.968         0              0              0
  64  Drawer          -0.449         0.797          -1.410         0              0              0
  65  Sink            -1.786         0.902          -3.748         0              0              0
  66  StoveBurner     -0.376         0.936          -2.451         0              0              0
  67  Drawer          -0.449         0.797          -0.762         0              0              0
  68  CounterTop      -0.268         0.951          -1.089         0              0              0
  69  Drawer          -0.449         0.797          -3.348         0              0              0
  70  StoveBurner     -0.376         0.936          -2.031         0              180            0
  71  Drawer          -0.449         0.797          -2.968         0              0              0
  72  StoveBurner     -0.165         0.936          -2.030         0              180            0
  73  StoveBurner     -0.165         0.936          -2.450         0              0              0
  74  StoveKnob       -0.568         0.903          -2.313         45             270            0
  75  StoveKnob       -0.568         0.903          -2.470         45             270            0
  76  StoveKnob       -0.568         0.903          -2.166         45             270            0
  77  StoveKnob       -0.568         0.903          -2.003         45             270            0
  78  Microwave       -0.143         0.903          -0.908         0              270            0
  79  LightSwitch     -1.108         1.457          0.338          0              180            0
  80  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  81  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  82  Fridge          -3.188         0.0            -2.184         0              0              0
  83  SinkBasin       -1.786         0.779          -3.747         0              0              0
  84  Toaster         -0.230         0.903          -3.406         0              270            0
  85  DiningTable     -2.800         0.003          -0.505         0              0              0
  86  Chair           -3.044         0.003          -1.223         0              32.194         0
  87  Faucet          -1.791         1.136          -3.913         0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn right, go to the counter to the left of the oven. | STEP 2: Take the knife from the counter. | STEP 3: Turn right, go straight and to the right to the sink. | STEP 4: Cut the apple in the sink into pieces. | STEP 5: Turn around, go straight and to the right to the microwave at the end of the counter. | STEP 6: Put the knife in the microwave. | STEP 7: Turn right, straight and to the right to the sink. | STEP 8: Take a piece of apple from the sink. | STEP 9: Turn around, go straight and to the right to the microwave at the end of the counter. | STEP 10: Cook the apple in the microwave, take the apple from the microwave. | STEP 11: Go to the bin to the left of the microwave | STEP 12: Put the apple into the bin. | END