Task: To heat an apple and put it inside the 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           -1.25          0.900          6.0            0              180            0
   1  DishSponge      0.668          0.771          0.563          0              0              0              42
   2  DishSponge      -0.049         0.759          6.588          0              225            0              86
   3  ButterKnife     0.668          0.772          0.507          0              0              0              42
   4  Pot             1.32           0.988          3.848          0              0              0              49
   5  Spoon           1.493          0.993          3.044          0              0              0              50
   6  Spatula         1.671          1.007          3.511          0              0              0              50
   7  Fork            1.182          0.771          4.753          0              270            0              40
   8  Fork            0.058          0.760          6.261          0              225            0              86
   9  Cup             -0.611         0.988          0.120          0              0              0              50
  10  Knife           -0.278         0.801          0.451          0              90             0              46
  11  Tomato          2.051          1.565          5.876          0              270            0              72
  12  SoapBottle      0.923          0.992          0.670          0              0              0              50
  13  SaltShaker      1.238          0.135          2.646          0              0              0              62
  14  Mug             2.009          1.510          5.501          0              270            0              72
  15  Bowl            1.499          1.575          4.754          0              0              0              54
  16  Bread           1.099          1.048          0.434          0              0              0              50
  17  Egg             1.135          1.042          4.670          0              0              0              51
  18  Knife           1.314          1.022          3.417          0              0              0              50
  19  Fork            -0.413         0.771          0.620          0              270            0              46
  20  Apple           1.493          1.067          0.440          0              0              0              50
  21  Kettle          1.593          0.981          3.25           0              255.000        0              50
  22  Plate           -0.483         0.144          0.582          0              0              0              58
  23  SaltShaker      0.150          0.755          6.291          0              270            0              86
  24  Lettuce         -0.621         0.848          6.604          0              270            0              86
  25  SoapBottle      1.140          1.579          0.163          0              0              0              57
  26  Spatula         -0.096         0.775          6.941          0              0              0              86
  27  PaperTowelRoll  0.169          0.864          6.807          0              225            0              86
  28  Pot             1.317          0.988          4.294          0              0              0              45
  29  Potato          -0.762         1.027          0.486          0              0              0              50
  30  ButterKnife     -0.459         0.992          0.670          0              0              0              50
  31  PepperShaker    0.167          1.574          0.119          0              0              0              63
  32  Pan             1.562          0.988          3.848          0              0              0              44
  33  Tomato          1.497          0.940          2.137          0              90             0              73
  34  DishSponge      0.150          0.759          6.666          0              270            0              86
  35  Cup             -0.384         0.988          0.486          0              0              0              50
  36  Spoon           -0.334         0.761          6.742          0              135            0              86
  37  Mug             0.080          0.755          6.895          0              225            0              86
  38  Cabinet         1.307          2.455          4.360          0              0              0
  39  Cabinet         1.054          0.422          1.710          0              0              0
  40  Drawer          1.280          0.808          4.718          0              0              0
  41  Cabinet         1.307          2.455          3.607          0              0              0
  42  Drawer          0.736          0.802          0.521          0              0              0
  43  Drawer          1.276          0.802          3.291          0              0              0
  44  StoveBurner     1.562          0.982          3.848          0              0              0
  45  StoveBurner     1.317          0.982          4.294          0              0              0
  46  Drawer          -0.482         0.802          0.521          0              0              0
  47  Drawer          0.124          0.802          0.521          0              0              0
  48  StoveBurner     1.559          0.982          4.294          0              0              0
  49  StoveBurner     1.320          0.982          3.848          0              0              0
  50  CounterTop      1.391          1.028          0.897          0              0              0
  51  CounterTop      1.391          1.028          4.716          0              0              0
  52  Cabinet         1.054          0.422          4.548          0              0              0
  53  Cabinet         1.317          2.134          0.517          0              0              0
  54  Cabinet         1.317          2.134          4.889          0              0              0
  55  Cabinet         1.317          2.134          3.095          0              0              0
  56  Cabinet         0.443          0.422          0.743          0              0              0
  57  Cabinet         1.270          2.134          0.434          0              0              0
  58  Cabinet         -0.775         0.422          0.743          0              0              0
  59  Cabinet         -0.168         0.422          0.743          0              0              0
  60  Cabinet         1.317          2.134          1.534          0              0              0
  61  Cabinet         1.054          0.422          2.990          0              0              0
  62  Cabinet         1.054          0.422          2.944          0              0              0
  63  Cabinet         -0.263         2.134          0.434          0              0              0
  64  Cabinet         0.252          2.134          0.434          0              0              0
  65  Sink            1.391          1.006          2.326          0              0              0
  66  Microwave       0.108          0.981          0.262          0              0              0
  67  HousePlant      -0.165         0.826          6.444          0              0              0
  68  CoffeeMachine   1.551          0.982          0.953          0              270            0
  69  Toaster         1.473          0.981          4.715          0              270            0
  70  Window          -2.065         1.916          3.626          90             90             0
  71  Window          1.763          2.007          2.299          90             270            0
  72  Fridge          2.035          0.0            5.625          0              0              0
  73  SinkBasin       1.387          0.880          2.338          0              90             0
  74  GarbageCan      2.001          -0.044         6.503          0              0              0
  75  StoveKnob       1.140          0.934          3.987          45             270            0
  76  StoveKnob       1.140          0.934          4.309          45             270            0
  77  StoveKnob       1.140          0.934          4.140          45             270            0
  78  StoveKnob       1.140          0.934          3.824          45             270            0
  79  Vase            -0.226         0.834          6.993          0              0              0
  80  Vase            2.098          0.043          7.070          0              257.232        0
  81  Vase            -0.594         0.835          6.130          0              225            0
  82  LightSwitch     -2.0           1.549          6.045          0              90             0
  83  Safe            2.046          1.072          7.054          0              257.232        0
  84  Faucet          1.534          1.025          2.371          0              294.391        0
  85  Blinds          1.738          2.563          2.312          0              90             0
  86  DiningTable     -0.156         0.000          6.474          0              0              0
  87  Chair           0.291          0.002          6.142          0              310.162        0
  88  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Walk straight ahead to the white garbage bag and turn left, walk straight ahead to the counter with the coffee maker on it.  | STEP 2: Pick up the apple to the right of the coffee maker.  | STEP 3: Turn and walk to the microwave.  | STEP 4: Open the microwave door, put the apple in the microwave, close the door, heat up the apple, open the door, take the apple out of the microwave, and close the door.  | STEP 5: Walk to the black bin to the left of the fridge.  | STEP 6: Put the apple inside of the black bin.  | END