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           -0.5           0.900          -0.5           0              180            0
   1  Potato          -0.872         1.045          -1.671         0              0              0              75
   2  DishSponge      -1.928         0.951          0.165          0              90             0              86
   3  DishSponge      1.785          0.911          0.292          0              0              0              68
   4  Pot             1.007          0.962          0.561          0              270            0              55
   5  Fork            1.724          0.912          0.375          0              0              0              68
   6  Fork            -2.614         0.952          0.255          0              180            0              86
   7  Spatula         -2.065         0.967          0.704          0              270            0              86
   8  Spatula         -1.928         0.967          0.255          0              180            0              86
   9  Egg             -2.614         0.987          0.614          0              90             0              86
  10  Plate           0.071          0.107          0.320          0              0              0              63
  11  Plate           1.830          0.109          0.311          0              0              0              61
  12  Knife           -1.791         0.977          0.435          0              90             0              86
  13  SoapBottle      -2.203         0.950          0.255          0              90             0              86
  14  SoapBottle      0.701          0.918          -1.516         0              270            0              51
  15  Tomato          -2.222         1.541          -1.677         0              0              0              83
  16  Tomato          0.856          0.968          -1.449         0              270            0              51
  17  Bowl            -2.135         0.510          -1.763         0              0              0              83
  18  Bowl            -1.791         0.951          0.614          0              90             0              86
  19  SaltShaker      -2.614         0.948          0.435          0              90             0              86
  20  PepperShaker    1.601          0.908          0.458          0              0              0              68
  21  PepperShaker    -0.451         0.908          -1.903         0              0              0              53
  22  Lettuce         1.785          1.002          0.540          0              0              0              68
  23  Apple           -0.361         0.137          0.482          0              90             0              82
  24  Bread           1.299          0.978          -1.532         0              0              0              53
  25  Knife           1.663          0.937          0.623          0              270            0              68
  26  Fork            0.753          0.920          -1.582         0              270            0              51
  27  Bowl            0.271          0.108          -1.509         0              180            0              50
  28  Kettle          -0.055         0.9            0.643          0              0              0              52
  29  Cup             -0.268         1.327          -1.736         0              180            0              47
  30  Tomato          -2.477         1.001          0.345          0              90             0              86
  31  SoapBottle      1.601          0.910          0.375          0              0              0              68
  32  Plate           -1.959         0.781          -1.720         0              0              0              83
  33  Pot             1.361          0.962          0.561          0              270            0              58
  34  Spatula         -0.359         0.927          -1.571         0              180            0              53
  35  PaperTowelRoll  0.167          1.016          0.209          0              0              0              52
  36  Egg             -2.203         0.987          0.435          0              90             0              86
  37  Lettuce         -2.065         1.042          0.524          0              90             0              86
  38  SaltShaker      0.504          0.106          0.421          0              0              0              64
  39  PepperShaker    0.035          0.908          0.292          0              0              0              52
  40  Apple           -2.065         1.019          0.255          0              90             0              86
  41  ButterKnife     1.658          0.912          -1.654         0              0              0              53
  42  Potato          -0.872         1.045          -1.803         0              0              0              75
  43  Pan             1.022          0.959          0.288          0              219.190        0              65
  44  DishSponge      -2.340         0.951          0.165          0              90             0              86
  45  Spoon           -2.477         0.953          0.435          0              180            0              86
  46  Mug             0.697          0.907          0.292          0              270            0              52
  47  Cabinet         -0.193         1.688          -1.648         0              180            0
  48  StoveBurner     1.360          0.957          0.293          0              180            0
  49  Drawer          0.499          0.792          0.296          0              0              0
  50  Cabinet         0.095          0.400          -1.352         0              180            0
  51  Sink            0.711          0.817          -1.772         0              270            0
  52  CounterTop      0.280          0.947          0.458          0              0              0
  53  CounterTop      -0.680         0.947          -1.654         0              0              0
  54  Drawer          1.825          0.792          0.296          0              0              0
  55  StoveBurner     1.007          0.957          0.561          0              270            0
  56  Drawer          -0.150         0.792          -1.496         0              0              0
  57  Drawer          -0.586         0.792          -1.496         0              0              0
  58  StoveBurner     1.360          0.957          0.561          0              270            0
  59  Drawer          0.024          0.792          0.296          0              0              0
  60  Cabinet         1.079          0.400          -1.349         0              180            0
  61  Cabinet         1.669          0.402          0.151          0              0              0
  62  Cabinet         0.055          0.402          -1.351         0              0              0
  63  Cabinet         -0.180         0.402          0.151          0              0              0
  64  Cabinet         0.729          0.402          0.151          0              0              0
  65  StoveBurner     1.007          0.957          0.293          0              180            0
  66  Drawer          -1.100         0.792          -1.496         0              0              0
  67  Cabinet         -0.396         0.402          -1.351         0              0              0
  68  CounterTop      1.776          0.947          0.458          0              0              0
  69  Cabinet         1.974          1.688          -1.648         0              180            0
  70  Cabinet         -0.820         0.400          -1.349         0              180            0
  71  Toaster         0.305          0.900          0.552          0              180            0
  72  LightSwitch     -2.756         1.307          -0.987         0              90             0
  73  Window          0.582          1.613          -1.967         90             0              0
  74  Window          1.969          1.5            -0.615         90             270            0
  75  Microwave       -1.037         0.900          -1.723         0              0              0
  76  SinkBasin       0.377          0.765          -1.655         0              270            0
  77  CoffeeMachine   0.618          0.900          0.600          0              180            0
  78  StoveKnob       1.246          0.913          0.118          45             180            0
  79  StoveKnob       1.373          0.913          0.118          45             180            0
  80  StoveKnob       0.995          0.913          0.118          45             180            0
  81  StoveKnob       1.126          0.913          0.118          45             180            0
  82  GarbageCan      -0.368         -0.029         0.539          0              90             0
  83  Fridge          -2.134         0.0            -1.690         0              0              0
  84  Faucet          0.549          1.046          -1.833         0              232.527        0
  85  Stool           -1.475         0.000          0.414          1.233          280.375        0
  86  DiningTable     -2.255         -0.004         0.432          0              0              0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn around, go to the wall, turn left, go to the white table. | STEP 2: Take the knife next to the bowl on the table. | STEP 3: Turn around, go to the green bin. | STEP 4: Cut the apple in the bin into pieces. | STEP 5: Put the knife in the bin. | STEP 6: Take a piece of apple from the bin. | STEP 7: Turn right, go to the microwave. | STEP 8: Cook the apple in the microwave, take the apple out of the microwave. | STEP 9: Turn around, go to the wall, turn right and go to the green bin. | STEP 10: Put the piece of apple into the bin. | END