Task: place a cooked apple in the bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          -0.5           0              0              0
   1  Potato          -1.065         1.351          0.272          0              90             0              69
   2  Potato          1.669          0.970          0.806          0              0              0              42
   3  DishSponge      1.346          1.071          0.376          0              0              0              43
   4  Fork            1.767          0.938          1.351          0              90             0              42
   5  Spoon           1.409          0.945          1.840          0              0              0              64
   6  Egg             1.597          0.979          1.714          0              180            0              64
   7  Cup             1.700          1.947          1.457          0              0              0              55
   8  Knife           -0.689         0.768          1.050          0              270            0              60
   9  SoapBottle      1.439          0.937          2.022          0              0              0              42
  10  Bowl            -1.039         1.825          -0.174         0              0              0              50
  11  SaltShaker      -0.827         0.742          2.381          0              180            0              38
  12  SaltShaker      -0.723         0.743          2.245          0              180            0              38
  13  Bread           -0.971         1.387          0.118          0              90             0              69
  14  Apple           1.592          0.987          0.940          0              0              0              42
  15  Apple           -1.126         0.987          0.687          0              0              0              62
  16  Lettuce         1.458          1.014          1.681          4.619          59.942         0              64
  17  SoapBottle      1.710          1.500          2.218          0              0              0              57
  18  Bread           -0.910         0.990          2.265          0              302.106        0              37
  19  Fork            -1.125         0.939          2.310          358.734        0              346.295        37
  20  Tomato          -1.126         0.999          0.998          0              0              0              62
  21  Bowl            -0.971         1.495          0.272          0              90             0              69
  22  Pot             -1.109         0.930          1.865          0              0              0              61
  23  Spatula         -0.960         0.952          0.687          0              0              0              62
  24  Knife           -0.960         0.959          0.843          0              0              0              62
  25  SaltShaker      -0.861         0.742          1.050          0              180            0              60
  26  Apple           -0.793         0.987          1.154          0              0              0              62
  27  PepperShaker    1.310          0.743          2.459          0              0              0              40
  28  ButterKnife     1.275          0.746          0.916          0              90             0              67
  29  Potato          -0.860         0.598          0.042          0              90             0              69
  30  Plate           1.380          1.751          0.168          0              0              0              45
  31  DishSponge      -1.045         0.928          2.158          0              0              0              37
  32  Egg             -0.960         0.973          0.687          0              0              0              62
  33  Cup             1.388          0.842          1.398          0              180            0              79
  34  Pan             -1.109         0.930          1.470          0              0              0              39
  35  Spoon           1.414          0.747          0.984          0              0              0              67
  36  Mug             -0.877         1.494          0.042          0              90             0              69
  37  CounterTop      -0.973         0.973          2.386          0              0              0
  38  Drawer          -0.783         0.774          2.381          0              180            0
  39  StoveBurner     -1.108         0.922          1.470          0              0              0
  40  Drawer          1.370          0.774          2.391          0              0              0
  41  Stool           -0.748         0.008          3.116          0              0              0
  42  CounterTop      1.504          0.973          2.309          0              0              0
  43  Cabinet         1.219          1.388          0.591          0              0              0
  44  Cabinet         1.500          2.113          1.164          0              0              0
  45  Cabinet         1.219          2.010          0.591          0              0              0
  46  Cabinet         1.219          0.388          2.105          0              0              0
  47  Cabinet         1.219          0.553          0.591          0              0              0
  48  Cabinet         -0.913         2.113          1.164          0              0              0
  49  Cabinet         -0.633         0.388          0.627          0              0              0
  50  Cabinet         -0.913         2.050          -0.329         0              0              0
  51  Cabinet         -0.913         2.113          0.583          0              0              0
  52  Cabinet         -0.913         2.113          2.082          0              0              0
  53  Cabinet         -0.913         2.113          1.207          0              0              0
  54  Cabinet         1.500          2.113          2.082          0              0              0
  55  Cabinet         1.500          2.113          1.207          0              0              0
  56  Cabinet         1.500          1.810          2.691          0              0              0
  57  Cabinet         1.500          1.810          2.101          0              0              0
  58  Cabinet         -0.633         0.388          2.105          0              0              0
  59  Cabinet         -0.911         1.810          2.700          0              180            0
  60  Drawer          -0.783         0.774          0.915          0              180            0
  61  StoveBurner     -1.108         0.922          1.865          0              0              0
  62  CounterTop      -0.972         0.973          0.921          0              0              0
  63  Cabinet         1.219          0.388          0.631          0              0              0
  64  Sink            1.544          0.869          1.639          0              180            0
  65  StoveBurner     -0.832         0.922          1.865          0              0              0
  66  StoveBurner     -0.831         0.922          1.470          0              0              0
  67  Drawer          1.370          0.774          0.916          0              0              0
  68  Cabinet         -0.911         1.810          2.111          0              180            0
  69  Fridge          -1.001         0.0            0.119          0              0              0
  70  StoveKnob       -0.648         0.926          1.923          0              270            0
  71  StoveKnob       -0.648         0.926          1.363          0              270            0
  72  StoveKnob       -0.648         0.926          1.513          0              270            0
  73  StoveKnob       -0.648         0.926          1.763          0              270            0
  74  Toaster         -1.002         0.926          2.561          0              90             0
  75  GarbageCan      1.451          -0.029         2.912          0              0              0
  76  Microwave       1.632          1.480          1.645          0              270            0
  77  Window          0.224          1.601          3.509          90             0              0
  78  CoffeeMachine   1.692          0.926          2.453          0              270            0
  79  SinkBasin       1.461          0.833          1.369          0              180            0
  80  LightSwitch     0.451          1.412          -1.674         0              0              0
  81  Faucet          1.707          0.925          1.363          0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: move right towards the sink | STEP 2: pick up the apple from the right side of the sink | STEP 3: turn left towards the microwave  | STEP 4: place the apple in the microwave to heat for some time | STEP 5: move left towards the bin | STEP 6: trash the apple in the bin | END