Task: place microwaved slice of green fruit in green bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          1.0            0              0              0
   1  Ladle           -2.608         0.867          0.278          0              270            0              44
   2  DishSponge      -2.462         1.848          2.420          0              0              0              54
   3  ButterKnife     -2.491         0.823          0.426          0              0              0              44
   4  ButterKnife     -2.044         0.823          0.528          0              0              0              44
   5  Fork            -0.330         0.697          0.949          0              270            0              46
   6  Spoon           -0.888         0.711          0.445          0              270            0              47
   7  Cup             -2.782         1.445          2.397          0              90             0              62
   8  Bowl            -1.943         0.121          0.401          0              0              0              56
   9  SaltShaker      -2.637         1.430          0.310          0              225            0              50
  10  PepperShaker    -2.774         1.430          0.173          0              45             0              50
  11  Lettuce         -2.837         1.227          2.397          0              90             0              62
  12  Bread           -2.781         1.491          2.133          0              90             0              62
  13  Mug             -2.726         1.138          1.957          0              90             0              62
  14  Apple           -2.840         0.896          0.278          0              0              0              44
  15  Apple           -0.395         0.129          2.640          0              90             0              64
  16  Apple           -2.844         0.994          1.284          0              90             0              63
  17  Fork            -0.400         0.824          0.770          0              0              0              44
  18  Ladle           -0.371         0.738          0.879          0              45             0              46
  19  Pan             -0.391         0.812          1.108          0              0              0              44
  20  SoapBottle      -2.397         1.433          0.142          0              0              0              51
  21  Pot             -0.518         0.829          2.075          0              180            0              41
  22  Tomato          -2.504         0.873          0.625          0              0              0              44
  23  Potato          -0.262         0.095          2.640          0              0              0              64
  24  SaltShaker      -2.599         1.430          0.217          0              45             0              50
  25  Plate           -1.522         0.130          0.440          0              0              0              57
  26  Spatula         -0.341         0.696          1.194          0              45             0              40
  27  Knife           -2.662         0.819          0.557          90             300.034        0              44
  28  Egg             -0.429         0.080          2.505          0              0              0              64
  29  Cup             -2.844         1.435          0.298          0              45             0              50
  30  ButterKnife     -1.151         0.813          0.278          0              0              0              44
  31  Lettuce         -2.726         0.908          2.045          0              90             0              62
  32  PepperShaker    -0.817         0.818          0.203          0              0              0              44
  33  DishSponge      -2.735         0.823          0.871          0              0              0              44
  34  Bread           -0.959         0.855          0.241          0              26.229         0              44
  35  Spoon           -1.217         0.699          0.444          0              270            0              48
  36  Mug             -0.646         0.888          0.367          0              0              0              72
  37  Bowl            -0.397         0.115          0.914          0              0              0              60
  38  Cabinet         -2.377         2.015          1.720          0              0              0
  39  StoveBurner     -0.244         0.820          2.075          0              180            0
  40  Drawer          -0.402         0.703          1.252          0              0              0
  41  StoveBurner     -0.518         0.820          2.075          0              180            0
  42  Sink            -1.838         0.726          0.343          0              180            0
  43  StoveBurner     -0.244         0.820          1.684          0              0              0
  44  CounterTop      -1.557         0.859          0.277          0              0              0
  45  StoveBurner     -0.518         0.820          1.684          0              0              0
  46  Drawer          -0.404         0.704          0.912          0              0              0
  47  Drawer          -0.861         0.709          0.420          0              0              0
  48  Drawer          -1.133         0.706          0.418          0              0              0
  49  Drawer          -2.589         0.703          1.511          0              0              0
  50  Cabinet         -2.772         1.803          0.508          0              0              0
  51  Cabinet         -2.460         1.803          0.231          0              0              0
  52  Cabinet         -2.781         1.798          0.825          0              0              0
  53  Cabinet         -2.781         1.798          0.815          0              0              0
  54  Cabinet         -2.377         2.009          2.581          0              0              0
  55  Cabinet         -2.442         0.385          1.672          0              0              0
  56  Cabinet         -2.238         0.385          0.564          0              0              0
  57  Cabinet         -1.286         0.385          0.564          0              0              0
  58  Cabinet         -1.262         0.385          0.565          0              0              0
  59  Cabinet         -0.734         0.385          0.565          0              0              0
  60  Cabinet         -0.549         0.385          0.751          0              0              0
  61  Cabinet         -0.549         0.385          1.412          0              0              0
  62  Fridge          -2.782         0.0            2.221          0              0              0
  63  Microwave       -2.794         0.812          1.348          0              90             0
  64  GarbageCan      -0.329         2.205          2.606          0              0              0
  65  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  66  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  67  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  68  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  69  Window          -1.720         1.342          -0.208         90             0              0
  70  Toaster         -0.171         0.812          0.735          0              270            0
  71  SinkBasin       -1.745         0.687          0.295          0              0              0
  72  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  73  LightSwitch     -0.615         1.378          3.0            0              180            0
  74  Faucet          -1.686         0.954          0.176          0              236.223        0
  75  Stool           -1.008         0.008          1.955          0              18.279         0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: turn around, face sink | STEP 2: pick up knife on counter to the right of sink | STEP 3: turn around, go to green bin to the left of stove | STEP 4: slice green fruit in the green bin  | STEP 5: turn around, go to microwave to the left | STEP 6: place knife in microwave, close door | STEP 7: turn around, go to green bin to the left of stove | STEP 8: pick up slice of fruit from green bin | STEP 9: turn around, go to microwave to the left, open microwave | STEP 10: place fruit slice on plate in microwave in between knife and apple, close door, microwave fruit slice, remove fruit slice from microwave, close door | STEP 11: turn around, go to green bin to the left of stove | STEP 12: place cooked slice of fruit in green bin | END