Task: Getting rid of green apples in the 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          1.75           0              270            0
   1  SprayBottle     -1.712         0.909          0.204          0              0              0              80
   2  SprayBottle     0.407          0.116          -1.585         0              0              0              72
   3  Pen             -1.712         0.913          0.032          0              0              0              80
   4  Pen             -0.400         0.777          -1.500         0              90             0              77
   5  Potato          1.420          0.256          1.08           0              0              0              95
   6  Ladle           -2.201         0.954          0.463          0              0              0              80
   7  Kettle          1.034          0.118          0.430          0              0              0              61
   8  ButterKnife     0.569          0.911          -1.619         0              0              0              78
   9  DishSponge      -0.685         0.111          -1.681         0              0              0              65
  10  DishSponge      1.035          0.774          0.539          0              0              0              55
  11  Glassbottle     -1.957         0.911          0.463          0              0              0              80
  12  Fork            -0.401         0.911          -1.619         0              0              0              78
  13  Fork            0.852          0.911          -1.534         0              0              0              78
  14  Egg             1.420          1.749          1.838          0              270            0              97
  15  Egg             1.369          1.846          2.369          0              270            0              97
  16  Plate           1.401          1.656          -0.736         0              0              0              66
  17  Knife           0.903          0.804          0.377          0              90             0              55
  18  Knife           0.149          0.949          -1.657         0              270            0              57
  19  Tomato          -1.835         0.950          0.549          0              0              0              80
  20  Tomato          0.149          0.959          -1.758         0              270            0              57
  21  Bowl            0.970          1.656          -1.839         0              0              0              67
  22  PepperShaker    -2.445         0.905          0.377          0              0              0              80
  23  Bread           -2.323         0.988          0.204          0              0              0              80
  24  Lettuce         1.426          1.436          1.850          0              270            0              97
  25  Lettuce         1.325          1.436          2.476          0              270            0              97
  26  Mug             -0.086         0.777          -1.707         0              270            0              99
  27  Apple           1.376          1.300          -0.021         0              270            0              100
  28  Apple           0.285          0.954          -1.758         0              270            0              57
  29  Tomato          1.275          1.407          1.976          0              270            0              97
  30  Glassbottle     -1.835         0.911          0.377          0              0              0              80
  31  Knife           -2.079         0.940          0.291          0              0              0              80
  32  Plate           1.260          0.911          0.372          0              0              0              78
  33  Fork            0.320          0.920          -1.708         0              90             0              57
  34  Ladle           -0.703         0.955          -1.789         0              0              0              78
  35  Potato          1.275          1.409          1.726          0              270            0              97
  36  Lettuce         -1.957         0.979          0.204          0              0              0              80
  37  Kettle          -1.081         0.949          -1.81          0              0              0              74
  38  Pen             -1.709         0.775          -1.565         0              270            0              83
  39  SaltShaker      1.494          1.157          -1.345         0              0              0              84
  40  Cup             0.649          0.117          -1.489         0              90             0              72
  41  Egg             0.217          0.948          -1.859         0              270            0              57
  42  Spatula         -1.809         0.925          -1.448         0              0              0              76
  43  Bowl            1.031          0.115          -0.699         0              0              0              62
  44  SprayBottle     -2.074         0.111          -1.584         0              0              0              81
  45  Pan             -1.079         0.945          -1.528         0              0              0              79
  46  SoapBottle      0.217          0.919          -1.607         0              0              0              57
  47  Pot             1.342          1.658          -1.264         0              0              0              70
  48  ButterKnife     -2.201         0.910          0.118          0              0              0              80
  49  PepperShaker    0.649          0.112          -1.728         0              90             0              72
  50  DishSponge      1.343          0.910          0.031          0              0              0              78
  51  Bread           1.414          1.240          -1.688         0              0              0              84
  52  Apple           1.420          1.754          1.713          0              270            0              97
  53  Spoon           0.758          0.912          -1.789         0              0              0              82
  54  Mug             1.414          1.157          -1.002         0              0              0              84
  55  Drawer          0.860          0.75           0.430          0              0              0
  56  Drawer          0.871          0.75           -1.134         0              0              0
  57  Sink            0.156          0.817          -1.801         0              270            0
  58  Cabinet         -0.868         2.005          -1.690         0              0              0
  59  Cabinet         -1.661         2.059          -1.684         0              90             0
  60  Cabinet         -0.817         2.059          -1.689         0              0              0
  61  Cabinet         0.860          0.402          0.665          0              0              0
  62  Cabinet         0.860          0.402          -0.552         0              0              0
  63  Cabinet         0.860          0.402          -1.365         0              0              0
  64  Cabinet         -0.244         0.402          -1.389         0              0              0
  65  Cabinet         -0.815         0.402          -1.389         0              0              0
  66  Cabinet         1.159          2.059          -0.334         0              0              0
  67  Cabinet         0.488          2.059          -1.689         0              0              0
  68  Cabinet         -0.193         2.059          -1.689         0              0              0
  69  Drawer          0.860          0.75           -0.699         0              0              0
  70  Cabinet         1.159          2.059          -1.019         0              0              0
  71  Cabinet         -1.611         2.005          -1.690         0              0              0
  72  Cabinet         0.832          0.401          -1.393         0              90             0
  73  Drawer          -2.105         0.75           -1.389         0              0              0
  74  StoveBurner     -1.081         0.941          -1.809         0              0              0
  75  Cabinet         -0.202         0.401          -1.391         0              90             0
  76  CounterTop      -1.973         0.945          -1.707         0              0              0
  77  Drawer          -0.375         0.75           -1.389         0              0              0
  78  CounterTop      1.164          0.946          -0.649         0              0              0
  79  StoveBurner     -1.081         0.941          -1.527         0              0              0
  80  CounterTop      -2.096         0.945          0.291          0              0              0
  81  Cabinet         -2.237         0.402          -1.389         0              0              0
  82  Drawer          0.584          0.75           -1.389         0              0              0
  83  Drawer          -1.795         0.75           -1.389         0              0              0
  84  CounterTop      1.5            1.197          -0.654         0              0              0
  85  Cabinet         -1.667         0.402          -1.389         0              0              0
  86  StoveBurner     -1.430         0.941          -1.525         0              0              0
  87  Drawer          -0.685         0.75           -1.389         0              0              0
  88  StoveBurner     -1.430         0.941          -1.809         0              0              0
  89  LightSwitch     -2.539         1.289          2.568          0              90             0
  90  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  91  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  92  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  93  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  94  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  95  GarbageCan      1.343          0.015          1.041          0              0              0
  96  HousePlant      1.440          1.153          0.593          0              0              0
  97  Fridge          1.417          0.0            2.101          0              0              0
  98  Window          -0.486         1.452          3.302          90             0              0
  99  SinkBasin       -0.063         0.765          -1.713         0              270            0
 100  Microwave       1.422          1.150          0.022          0              270            0
 101  Toaster         -2.066         0.900          -1.848         0              0              0
 102  Stool           -1.994         0.010          0.882          0              0              0
 103  Faucet          -0.096         1.041          -1.867         0              270            0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn to the left and walk towards the sink and face it | STEP 2: Pick up the green apple from the sink | STEP 3: Turn around and walk to the trash bin next to the refrigerator and face it on the right | STEP 4: Place the apple inside the trash bin | STEP 5: Turn to the right and face the microwave | STEP 6: Open up the microwave and take out the apple, then close the door back | STEP 7: Turn to the left and face the trash bin next to the refrigerator | STEP 8: Place the apple inside the trash bin | END