Task: Place a chilled, cut piece of apple in a trash bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          1.25           0              0              0
   1  Pan             1.543          0.909          -0.320         0              90             0              44
   2  Potato          0.220          0.950          0.915          0              90             0              41
   3  Potato          -0.838         1.723          -1.594         0              0              0              68
   4  DishSponge      1.245          0.910          0.915          0              90             0              41
   5  DishSponge      0.476          0.910          0.739          0              90             0              41
   6  Fork            1.501          0.911          0.827          0              90             0              41
   7  Cup             0.061          0.909          -1.263         0              90             0              45
   8  Cup             1.769          1.644          -1.643         0              0              0              55
   9  SoapBottle      1.770          1.633          -1.338         0              0              0              54
  10  SoapBottle      1.501          0.908          1.092          0              90             0              41
  11  Tomato          -0.790         1.452          -1.524         0              0              0              68
  12  Tomato          -0.741         0.810          -1.629         0              0              0              68
  13  Bowl            1.805          1.631          -1.046         0              0              0              53
  14  SaltShaker      0.732          0.905          0.739          0              90             0              41
  15  Bread           1.796          0.988          -1.460         0              90             0              45
  16  Bread           -0.741         0.537          -1.541         0              0              0              68
  17  Mug             0.502          0.940          -1.460         0              0              0              67
  18  Apple           1.738          1.072          -0.676         0              270            0              65
  19  Plate           1.802          1.647          -0.000         0              0              0              51
  20  SoapBottle      1.586          0.909          -1.374         0              90             0              45
  21  Cup             -0.838         1.387          -1.664         0              0              0              68
  22  Egg             1.803          1.042          -0.782         0              270            0              65
  23  Fork            0.476          0.911          1.180          0              90             0              41
  24  Ladle           1.796          0.955          -1.717         0              90             0              45
  25  Apple           1.101          0.817          -1.654         0              0              0              60
  26  SaltShaker      1.809          2.131          1.159          0              0              0              48
  27  Pan             1.807          0.909          -0.320         0              180            0              43
  28  Tomato          1.77           0.134          1.588          0              270            0              59
  29  Spatula         0.894          0.775          -1.544         0              270            0              60
  30  Potato          -0.838         1.131          -1.559         0              0              0              68
  31  Knife           1.757          0.943          0.827          0              90             0              41
  32  ButterKnife     1.308          0.760          -1.599         0              90             0              60
  33  Bread           1.757          0.987          1.092          0              90             0              41
  34  Lettuce         0.220          1.010          1.180          0              90             0              41
  35  PepperShaker    1.012          0.906          -1.264         0              90             0              45
  36  Pot             1.534          0.908          0.058          0              195.000        0              47
  37  DishSponge      1.726          0.910          -1.288         0              90             0              45
  38  Spoon           1.165          0.750          -1.494         0              342.866        0              60
  39  Bowl            1.607          0.909          0.467          0              90             0              41
  40  Mug             1.840          1.640          -1.806         0              0              0              55
  41  CounterTop      0.989          0.946          1.016          0              90             0
  42  StoveBurner     1.807          0.907          0.075          0              180            0
  43  StoveBurner     1.807          0.907          -0.320         0              180            0
  44  StoveBurner     1.543          0.907          -0.320         0              90             0
  45  CounterTop      0.989          0.946          -1.516         0              90             0
  46  Sink            1.100          0.906          -1.599         0              0              0
  47  StoveBurner     1.548          0.907          0.075          0              180            0
  48  Cabinet         1.658          2.299          1.313          0              0              0
  49  Cabinet         1.658          2.299          0.686          0              0              0
  50  Cabinet         1.658          2.049          0.673          0              0              0
  51  Cabinet         1.658          2.059          0.193          0              0              0
  52  Cabinet         1.658          2.059          -0.593         0              0              0
  53  Cabinet         1.658          2.049          -0.606         0              0              0
  54  Cabinet         1.658          2.049          -1.206         0              0              0
  55  Cabinet         1.658          2.049          -1.893         0              0              0
  56  Toaster         0.131          0.900          -1.589         0              0              0
  57  Window          -0.372         1.588          3.349          90             0              0
  58  Window          0.782          1.741          -1.893         90             0              0
  59  GarbageCan      1.770          -0.029         1.685          0              270            0
  60  SinkBasin       1.091          0.740          -1.599         0              0              0
  61  StoveKnob       1.364          0.821          0.086          48.421         270            0
  62  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  65  Microwave       1.752          0.900          -0.843         0              270            0
  66  LightSwitch     2.0            1.261          3.094          0              270            0
  67  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  68  Fridge          -0.533         0.0            -1.554         0              0              0
  69  Chair           1.068          0.000          1.752          0              191.622        0
  70  Faucet          1.110          1.138          -1.764         0              270            0
  71  Chair           0.357          0.000          1.710          0              178.899        0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Turn around and veer left to the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Use the knife to cut the apple in the sink. | STEP 4: Put the knife in the sink to the left of the spatula. | STEP 5: Pick up one of the slices of apple. | STEP 6: Turn right and walk to the fridge. | STEP 7: Place the piece of apple in the fridge. Close the door, wait a moment, and take the apple out again. | STEP 8: Turn around and walk straight and right around the counter to the bin next to the yellow chairs. | STEP 9: Place the piece of apple in the bin. | END