Task: Put the cooked apple in the recycling bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.25          0              90             0
   1  Pan             1.872          1.654          -0.772         0              180            0              88
   2  Potato          0.193          0.800          -0.596         0              0              0              108
   3  Potato          -0.017         0.800          -0.762         0              0              0              108
   4  DishSponge      0.888          0.911          -0.769         0              0              0              51
   5  DishSponge      -0.621         0.820          -1.411         0              90             0              110
   6  Kettle          -0.160         0.116          1.196          0              0              0              79
   7  ButterKnife     0.634          0.911          -0.430         0              0              0              51
   8  Pot             0.281          0.964          1.347          0              0              0              66
   9  Fork            0.888          0.912          -0.430         0              0              0              51
  10  Fork            -0.694         0.821          -1.257         0              90             0              110
  11  Spatula         2.754          0.926          1.553          0              270            0              86
  12  Spatula         1.155          0.926          1.383          0              0              0              86
  13  Plate           1.141          0.914          -0.6           0              0              0              51
  14  Egg             2.900          1.601          -0.644         0              0              0              106
  15  Egg             2.653          0.764          -0.535         0              0              0              106
  16  SoapBottle      2.258          0.120          1.081          0              0              0              87
  17  SoapBottle      -0.785         0.826          -1.400         0              0              0              110
  18  Tomato          0.123          0.797          -0.762         0              0              0              108
  19  Tomato          1.955          0.942          1.383          0              0              0              86
  20  SaltShaker      1.525          0.110          1.231          0              0              0              80
  21  SaltShaker      -0.055         0.908          1.129          0              0              0              62
  22  Bread           1.955          0.969          1.129          0              0              0              86
  23  Bread           2.754          0.969          1.129          0              0              0              86
  24  Lettuce         2.488          0.992          1.214          0              0              0              86
  25  Lettuce         2.221          0.992          1.299          0              0              0              86
  26  Apple           -0.151         0.980          1.468          0              0              0              62
  27  Apple           -2.019         0.492          1.375          0              270            0              104
  28  SoapBottle      1.896          0.120          1.156          0              0              0              71
  29  Plate           2.211          0.902          -0.462         0              0              0              51
  30  Fork            1.456          0.772          1.122          0              90             0              69
  31  Pot             0.281          0.964          1.082          0              0              0              57
  32  Bread           -0.198         0.969          1.129          0              0              0              62
  33  Egg             -0.055         0.949          1.214          0              0              0              62
  34  Kettle          0.710          0.9            -0.772         0              0              0              51
  35  Tomato          2.900          0.756          -0.565         0              0              0              106
  36  Cup             2.120          1.652          1.546          0              0              0              63
  37  Spatula         -0.983         0.835          -1.308         0              90             0              110
  38  Apple           1.688          0.980          1.299          0              0              0              86
  39  Pan             0.637          0.960          1.090          0              0              0              54
  40  Lettuce         -0.983         0.901          -1.360         0              90             0              110
  41  SaltShaker      0.937          1.651          -0.888         0              180            0              61
  42  Knife           0.026          0.758          -0.592         273.786        317.657        5.542          108
  43  Potato          -0.839         0.855          -1.206         0              90             0              110
  44  PepperShaker    -0.055         0.908          1.044          0              0              0              62
  45  ButterKnife     1.155          0.911          1.044          0              0              0              86
  46  Bowl            2.838          1.017          -0.644         0              0              0              106
  47  DishSponge      1.141          0.911          -0.854         0              0              0              51
  48  Spoon           -0.939         0.822          -1.473         0              180            0              110
  49  Mug             2.242          1.650          -0.835         0              180            0              72
  50  Sink            0.050          0.902          -0.648         0              0              0
  51  CounterTop      1.358          0.947          -0.600         0              0              0
  52  Cabinet         2.986          2.009          1.304          0              0              0
  53  Cabinet         1.022          2.009          -0.607         0              180            0
  54  StoveBurner     0.678          0.923          1.082          0              0              0
  55  Cabinet         2.371          0.402          0.995          0              0              0
  56  Drawer          -0.125         0.792          0.995          0              0              0
  57  StoveBurner     0.281          0.923          1.082          0              0              0
  58  Cabinet         1.025          0.402          0.995          0              0              0
  59  Cabinet         1.023          0.402          -0.296         0              180            0
  60  Cabinet         0.974          2.259          1.304          0              0              0
  61  Cabinet         0.979          2.009          -0.607         0              180            0
  62  CounterTop      -0.158         0.947          1.299          0              0              0
  63  Cabinet         1.725          2.009          1.304          0              0              0
  64  Drawer          2.205          0.792          -0.294         0              180            0
  65  Drawer          1.869          0.792          -0.294         0              180            0
  66  StoveBurner     0.281          0.923          1.347          0              0              0
  67  Drawer          2.512          0.792          0.995          0              0              0
  68  Cabinet         1.673          0.402          -0.296         0              180            0
  69  Drawer          1.524          0.792          0.995          0              0              0
  70  Drawer          1.174          0.792          -0.294         0              180            0
  71  Cabinet         1.720          0.402          0.995          0              0              0
  72  Cabinet         2.348          2.009          -0.607         0              180            0
  73  Cabinet         1.676          2.009          -0.607         0              180            0
  74  Cabinet         1.673          2.009          1.304          0              0              0
  75  Cabinet         2.326          2.009          1.304          0              0              0
  76  Cabinet         2.370          2.009          1.304          0              0              0
  77  Cabinet         0.021          2.009          1.304          0              0              0
  78  Cabinet         1.025          2.009          1.304          0              0              0
  79  Cabinet         -0.274         0.402          0.995          0              0              0
  80  Cabinet         1.675          0.402          0.995          0              0              0
  81  Drawer          1.524          0.792          -0.294         0              180            0
  82  Drawer          2.187          0.792          0.995          0              0              0
  83  Cabinet         2.977          0.402          0.995          0              0              0
  84  Drawer          1.862          0.792          0.995          0              0              0
  85  Cabinet         0.072          2.259          1.304          0              0              0
  86  CounterTop      1.917          0.947          1.299          0              0              0
  87  Cabinet         2.328          0.402          0.995          0              0              0
  88  Cabinet         1.723          2.009          -0.607         0              180            0
  89  StoveBurner     0.677          0.923          1.345          0              0              0
  90  Cabinet         0.355          2.009          -0.607         0              180            0
  91  Cabinet         0.332          2.009          -0.607         0              180            0
  92  Cabinet         2.349          0.402          -0.296         0              180            0
  93  Cabinet         -0.284         2.009          -0.607         0              180            0
  94  Faucet          0.061          0.906          -0.903         0              0              0
  95  Drawer          2.837          0.792          0.995          0              0              0
  96  Drawer          1.175          0.792          0.995          0              0              0
  97  Cabinet         1.723          0.402          -0.296         0              180            0
  98  StoveKnob       0.588          1.093          1.557          287.970        0              0
  99  StoveKnob       0.188          1.093          1.557          287.970        0              0
 100  StoveKnob       0.749          1.093          1.557          287.970        0              0
 101  StoveKnob       0.338          1.093          1.557          287.970        0              0
 102  Toaster         1.934          0.900          -0.717         0              0              0
 103  LightSwitch     -1.662         1.427          1.649          0              180            0
 104  GarbageCan      -1.965         -0.029         1.358          0              270            0
 105  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 106  Fridge          3.043          0.0            -0.709         0              0              0
 107  Window          -2.183         1.501          -0.014         90             270            0
 108  SinkBasin       0.043          0.755          -0.651         0              0              0
 109  Microwave       0.531          1.675          1.437          0              180            0
 110  DiningTable     -0.836         8.404          -1.258         0              0              0
 111  Chair           -1.611         0.002          -1.185         0              45             0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Turn left and walk to the blue recycling bin in the corner | STEP 2: Pick up the red apple from the recycling bin | STEP 3: Turn right and walk over to the microwave above the oven | STEP 4: Heat the apple in the microwave then remove it | STEP 5: Turn left and walk back over to the recycling bin | STEP 6: Put the apple in the recycling bin | END