Task: To heat a piece of an apple and place it in a black 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          0.5            0              270            0
   1  Vase            0.861          0.109          -1.892         0              0              0              64
   2  Potato          0.966          1.673          0.967          0              270            0              82
   3  CreditCard      -1.229         0.930          -0.643         0              0              0              59
   4  CreditCard      0.859          0.908          -1.879         0              0              0              65
   5  CellPhone       0.875          0.492          -0.607         0              270            0              63
   6  CellPhone       -0.550         0.930          -1.308         0              0              0              59
   7  DishSponge      -1.778         0.553          2.615          0              0              0              85
   8  ButterKnife     0.773          0.911          -0.729         0              0              0              60
   9  Glassbottle     1.194          1.667          -0.337         0              270            0              68
  10  Fork            0.833          0.154          -0.650         0              270            0              62
  11  Spoon           0.944          0.912          0.139          0              270            0              60
  12  Spoon           0.834          0.704          -0.648         0              270            0              57
  13  Knife           -0.624         0.957          -1.386         0              0              0              59
  14  Cup             -0.587         0.777          -0.918         0              90             0              80
  15  Cup             -0.550         0.930          -1.618         0              0              0              59
  16  Plate           -0.642         0.783          -0.659         0              90             0              80
  17  Tomato          -0.477         0.974          0.315          0              0              0              59
  18  SoapBottle      1.199          0.911          -1.879         0              0              0              65
  19  Bowl            1.148          1.669          -0.593         0              270            0              68
  20  Bowl            1.056          1.669          -0.401         0              270            0              68
  21  SaltShaker      0.956          0.490          -0.565         0              270            0              63
  22  Bread           0.965          0.944          1.444          0              270            0              82
  23  Apple           0.688          0.961          0.139          0              0              0              60
  24  Apple           0.944          0.961          -1.879         0              0              0              65
  25  Statue          -0.846         0.936          0.239          0              0              0              59
  26  Glassbottle     -0.912         0.177          0.641          0              180            0              79
  27  Bread           0.859          0.992          -0.381         0              0              0              60
  28  CreditCard      0.794          0.699          -0.648         0              270            0              57
  29  CellPhone       -1.363         0.550          2.822          0              0              0              85
  30  Potato          0.905          1.432          1.540          0              270            0              82
  31  Knife           1.029          0.934          -0.207         0              0              0              60
  32  Fork            -1.104         0.934          -0.905         0              0              0              59
  33  Pan             0.848          0.946          -1.080         0              0              0              53
  34  Lettuce         1.114          0.988          -0.381         0              0              0              60
  35  Plate           0.844          0.866          1.158          0              270            0              82
  36  Apple           -0.550         0.983          -1.154         0              0              0              59
  37  Pot             1.077          0.950          -1.504         0              0              0              55
  38  Spatula         -0.698         0.948          -0.143         0              0              0              59
  39  PaperTowelRoll  -1.007         0.283          0.641          0              180            0              79
  40  Tomato          1.026          1.442          1.063          0              270            0              82
  41  Egg             -1.229         0.971          0.144          0              0              0              59
  42  SaltShaker      0.833          0.150          -0.611         0              270            0              62
  43  PepperShaker    -1.674         0.550          2.667          0              0              0              85
  44  Vase            0.688          0.911          0.313          0              0              0              60
  45  ButterKnife     -1.292         0.933          -1.167         0              0              0              59
  46  SoapBottle      -1.571         0.882          2.719          0              0              0              86
  47  Vase            1.169          2.209          -1.299         0              270            0              66
  48  Bowl            0.905          1.405          1.349          0              270            0              82
  49  DishSponge      -0.587         0.780          -0.486         0              90             0              80
  50  Spoon           -1.355         0.934          -0.380         0              0              0              59
  51  Cup             0.844          1.640          1.444          0              270            0              82
  52  Mug             1.199          0.906          -0.208         0              180            0              60
  53  StoveBurner     0.842          0.919          -1.098         0              0              0
  54  Cabinet         0.648          0.474          0.244          0              270            0
  55  StoveBurner     1.077          0.919          -1.504         0              0              0
  56  StoveBurner     0.842          0.919          -1.504         0              0              0
  57  Drawer          0.637          0.755          -0.649         0              270            0
  58  Cabinet         0.949          2.159          -2.375         0              270            0
  59  CounterTop      -1.238         0.968          -0.643         0              0              0
  60  CounterTop      0.931          0.946          -0.208         0              0              0
  61  StoveBurner     1.077          0.919          -1.098         0              0              0
  62  Drawer          0.637          0.268          -0.649         0              270            0
  63  Drawer          0.637          0.547          -0.649         0              270            0
  64  Cabinet         0.648          0.475          -1.714         0              0              0
  65  CounterTop      0.931          0.946          -2.051         0              0              0
  66  Cabinet         0.948          2.439          -1.780         0              270            0
  67  Cabinet         0.948          2.159          -0.140         0              270            0
  68  Cabinet         0.949          2.159          -0.758         0              270            0
  69  Sink            -0.699         0.927          -0.649         0              0              0
  70  LightSwitch     -2.371         1.218          3.049          0              180            0
  71  StoveKnob       0.673          0.899          -1.373         315            90             180
  72  StoveKnob       0.673          0.899          -1.519         315            90             180
  73  StoveKnob       0.673          0.899          -1.086         315            90             180
  74  StoveKnob       0.673          0.899          -1.237         315            90             180
  75  Toaster         0.984          0.900          0.329          0              270            0
  76  Window          0.014          0.998          -2.640         90             0              0
  77  Window          -2.996         0.998          -2.640         90             0              0
  78  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  79  GarbageCan      -0.946         -0.036         0.575          0              180            0
  80  SinkBasin       -0.698         0.765          -0.647         0              90             0
  81  Microwave       1.042          1.680          -1.295         0              270            0
  82  Fridge          0.966          0.0            1.253          0              0              0
  83  HousePlant      -1.354         0.919          -1.540         0              0              0
  84  Shelf           -1.635         0.172          2.715          0              180            0
  85  Shelf           -1.635         0.552          2.715          0              180            0
  86  Shelf           -1.635         0.880          2.715          0              180            0
  87  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  88  Chair           -1.832         0.002          -0.034         0              119.999        0
  89  Chair           -1.854         0.002          -0.956         0              67.887         0
  90  Faucet          -0.867         1.161          -0.651         0              0              0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn around and face the counter above the dishwasher.  | STEP 2: Pick up the knife to the left of the bread.  | STEP 3: Move to the counter with the toaster on it.  | STEP 4: Slice the green apple to the right of the white vase.  | STEP 5: Turn and walk to the sculpture on the counter, look down at the black bin.  | STEP 6: Place the knife inside of the black bin.  | STEP 7: Walk back over to the apple.  | STEP 8: Pick up a piece of green apple.  | STEP 9: Turn right and walk to the stove, look up at the microwave.  | STEP 10: Place the piece of apple inside of the microwave, heat it up, take the piece out of the microwave and close the door.  | STEP 11: Walk back over to the black bin on the floor.  | STEP 12: Place the piece of apple in the black bin.  | END