Task: Place a microwaved apple in a garbage can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.5            0              270            0
   1  Pan             0.634          0.911          -0.769         0              0              0              49
   2  DishSponge      -0.621         0.820          -1.103         0              90             0              108
   3  DishSponge      2.488          0.911          1.044          0              0              0              84
   4  Kettle          0.678          0.964          1.345          0              0              0              87
   5  Kettle          1.688          0.912          1.214          0              0              0              84
   6  Spoon           0.053          0.766          -0.651         0              90             0              106
   7  Spoon           -0.839         0.822          -1.360         0              90             0              108
   8  Fork            1.688          0.912          1.468          0              0              0              84
   9  Spatula         0.152          0.926          -0.302         0              180            0              49
  10  Spatula         0.263          0.780          -0.707         0              90             0              106
  11  Plate           0.231          2.159          1.467          0              0              0              83
  12  Egg             -1.962         0.461          1.417          0              270            0              102
  13  Knife           -0.007         0.944          1.299          0              90             0              60
  14  Knife           -0.055         0.944          1.383          0              90             0              60
  15  SoapBottle      1.955          0.917          1.553          0              0              0              84
  16  Tomato          0.123          0.797          -0.762         0              0              0              106
  17  SaltShaker      -0.621         0.817          -1.308         0              90             0              108
  18  SaltShaker      0.480          1.650          -0.735         0              180            0              88
  19  PepperShaker    1.254          1.651          1.390          0              0              0              76
  20  PepperShaker    -0.911         0.817          -1.257         0              90             0              108
  21  Bread           1.141          0.969          -0.769         0              0              0              49
  22  Bread           -0.246         0.969          1.129          0              0              0              60
  23  Mug             2.962          0.720          -0.504         0              0              0              104
  24  Apple           1.155          0.980          1.383          0              0              0              84
  25  Apple           -0.151         0.980          1.468          0              0              0              60
  26  SoapBottle      -1.056         0.826          -1.155         0              90             0              108
  27  Plate           2.488          0.914          1.468          0              0              0              84
  28  Fork            -0.785         0.821          -1.400         0              0              0              108
  29  Pot             0.297          0.960          1.346          0              0              0              64
  30  Bread           1.955          0.969          1.129          0              0              0              84
  31  Egg             -0.694         0.858          -1.257         0              90             0              108
  32  Kettle          1.563          0.115          1.193          0              0              0              78
  33  Tomato          -0.087         0.797          -0.596         0              0              0              106
  34  Cup             -0.939         0.818          -1.110         0              0              0              108
  35  Spatula         2.221          0.926          1.299          0              0              0              84
  36  Apple           2.754          0.980          1.214          0              0              0              84
  37  Pan             0.637          0.960          1.090          0              0              0              52
  38  Lettuce         1.422          0.992          1.299          0              0              0              84
  39  SaltShaker      1.141          0.908          -0.515         0              0              0              49
  40  Knife           0.193          0.798          -0.707         0              90             0              106
  41  Potato          2.715          1.598          -0.578         0              0              0              104
  42  PepperShaker    2.600          1.651          1.351          0              0              0              74
  43  ButterKnife     -0.839         0.820          -1.206         0              180            0              108
  44  Bowl            2.548          0.112          1.117          0              0              0              53
  45  DishSponge      0.812          2.153          1.429          0              0              0              58
  46  Spoon           1.155          0.912          1.129          0              0              0              84
  47  Mug             1.428          0.965          -0.577         0              0              0              49
  48  Sink            0.050          0.902          -0.648         0              0              0
  49  CounterTop      1.358          0.947          -0.600         0              0              0
  50  Cabinet         2.986          2.009          1.304          0              0              0
  51  Cabinet         1.022          2.009          -0.607         0              180            0
  52  StoveBurner     0.678          0.923          1.082          0              0              0
  53  Cabinet         2.371          0.402          0.995          0              0              0
  54  Drawer          -0.125         0.792          0.995          0              0              0
  55  StoveBurner     0.281          0.923          1.082          0              0              0
  56  Cabinet         1.025          0.402          0.995          0              0              0
  57  Cabinet         1.023          0.402          -0.296         0              180            0
  58  Cabinet         0.974          2.259          1.304          0              0              0
  59  Cabinet         0.979          2.009          -0.607         0              180            0
  60  CounterTop      -0.158         0.947          1.299          0              0              0
  61  Cabinet         1.725          2.009          1.304          0              0              0
  62  Drawer          2.205          0.792          -0.294         0              180            0
  63  Drawer          1.869          0.792          -0.294         0              180            0
  64  StoveBurner     0.281          0.923          1.347          0              0              0
  65  Drawer          2.512          0.792          0.995          0              0              0
  66  Cabinet         1.673          0.402          -0.296         0              180            0
  67  Drawer          1.524          0.792          0.995          0              0              0
  68  Drawer          1.174          0.792          -0.294         0              180            0
  69  Cabinet         1.720          0.402          0.995          0              0              0
  70  Cabinet         2.348          2.009          -0.607         0              180            0
  71  Cabinet         1.676          2.009          -0.607         0              180            0
  72  Cabinet         1.673          2.009          1.304          0              0              0
  73  Cabinet         2.326          2.009          1.304          0              0              0
  74  Cabinet         2.370          2.009          1.304          0              0              0
  75  Cabinet         0.021          2.009          1.304          0              0              0
  76  Cabinet         1.025          2.009          1.304          0              0              0
  77  Cabinet         -0.274         0.402          0.995          0              0              0
  78  Cabinet         1.675          0.402          0.995          0              0              0
  79  Drawer          1.524          0.792          -0.294         0              180            0
  80  Drawer          2.187          0.792          0.995          0              0              0
  81  Cabinet         2.977          0.402          0.995          0              0              0
  82  Drawer          1.862          0.792          0.995          0              0              0
  83  Cabinet         0.072          2.259          1.304          0              0              0
  84  CounterTop      1.917          0.947          1.299          0              0              0
  85  Cabinet         2.328          0.402          0.995          0              0              0
  86  Cabinet         1.723          2.009          -0.607         0              180            0
  87  StoveBurner     0.677          0.923          1.345          0              0              0
  88  Cabinet         0.355          2.009          -0.607         0              180            0
  89  Cabinet         0.332          2.009          -0.607         0              180            0
  90  Cabinet         2.349          0.402          -0.296         0              180            0
  91  Cabinet         -0.284         2.009          -0.607         0              180            0
  92  Faucet          0.061          0.906          -0.903         0              0              0
  93  Drawer          2.837          0.792          0.995          0              0              0
  94  Drawer          1.175          0.792          0.995          0              0              0
  95  Cabinet         1.723          0.402          -0.296         0              180            0
  96  StoveKnob       0.588          1.093          1.557          287.970        0              0
  97  StoveKnob       0.188          1.093          1.557          287.970        0              0
  98  StoveKnob       0.749          1.093          1.557          287.970        0              0
  99  StoveKnob       0.338          1.093          1.557          287.970        0              0
 100  Toaster         1.934          0.900          -0.717         0              0              0
 101  LightSwitch     -1.662         1.427          1.649          0              180            0
 102  GarbageCan      -1.965         -0.029         1.358          0              270            0
 103  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 104  Fridge          3.043          0.0            -0.709         0              0              0
 105  Window          -2.183         1.501          -0.014         90             270            0
 106  SinkBasin       0.043          0.755          -0.651         0              0              0
 107  Microwave       0.531          1.675          1.437          0              180            0
 108  DiningTable     -0.836         8.404          -1.258         0              0              0
 109  Chair           -1.611         0.002          -1.185         0              45             0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Walk forward slightly and turn right towards the counter top. | STEP 2: Pick up the apple from the counter top. | STEP 3: Turn right and walk to the microwave above the stove top. | STEP 4: Microwave the apple for a few seconds, then take it out and close the microwave. | STEP 5: Turn left and walk to the blue garbage can in the corner of the room. | STEP 6: Put the apple in the garbage can. | END