Task: Place a cooked apple inside the waste basket.

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          0.25           0              90             0
   1  Pan             0.889          0.911          -1.415         0              90             0              75
   2  Potato          0.321          0.949          0.970          0              0              0              83
   3  Potato          1.574          0.935          -1.318         0              0              0              75
   4  Ladle           1.640          0.955          1.408          0              0              0              75
   5  Ladle           0.214          0.969          -0.190         0              0              0              83
   6  Kettle          -0.844         0.912          -1.610         0              0              0              75
   7  Kettle          1.095          1.680          -1.614         0              0              0              74
   8  DishSponge      -1.151         0.113          -1.487         0              0              0              87
   9  DishSponge      0.321          0.925          0.506          0              0              0              83
  10  ButterKnife     1.762          0.141          1.219          0              0              0              84
  11  ButterKnife     1.661          0.237          -0.088         0              0              0              58
  12  Fork            -1.874         0.912          -1.318         0              0              0              75
  13  Spoon           -0.751         0.672          -1.301         0              0              0              66
  14  Spoon           0.107          0.926          0.738          0              0              0              83
  15  Pot             0.000          0.929          0.273          0              0              0              83
  16  Egg             -1.750         1.526          0.013          0              90             0              98
  17  Cup             -1.874         0.909          -1.513         0              0              0              75
  18  Knife           1.658          0.143          0.745          0              180            0              67
  19  Knife           0.107          0.947          0.970          0              90             0              83
  20  SoapBottle      2.030          0.915          -1.707         0              0              0              75
  21  SoapBottle      -1.841         1.665          -1.207         0              90             0              62
  22  Tomato          1.117          0.966          -1.415         0              0              0              75
  23  Tomato          -1.697         1.728          -0.269         0              90             0              98
  24  Bowl            -0.193         0.113          -1.409         0              0              0              54
  25  SaltShaker      0.305          0.109          -1.282         0              0              0              64
  26  PepperShaker    1.273          0.105          -1.542         0              0              0              68
  27  PepperShaker    0.000          0.921          0.970          0              0              0              83
  28  Bread           0.000          1.006          0.738          0              0              0              83
  29  Mug             -1.639         0.906          -0.964         0              0              0              75
  30  SoapBottle      1.574          0.915          -1.415         0              0              0              75
  31  Cup             1.117          0.107          -1.606         0              0              0              68
  32  Pot             1.975          0.938          0.601          0              180            0              70
  33  Fork            0.256          0.761          -1.490         0              90             0              99
  34  Ladle           -0.213         0.969          0.506          0              0              0              83
  35  Kettle          1.765          0.938          0.819          0              180            0              72
  36  Egg             -0.261         0.817          -1.435         0              0              0              99
  37  Plate           1.962          1.658          -1.280         0              270            0              63
  38  Pan             -1.286         0.9            -1.348         0              79.769         0              75
  39  Lettuce         -0.106         1.002          0.041          0              0              0              83
  40  Spatula         1.810          0.704          0.608          0              0              0              76
  41  Apple           -1.668         0.964          -1.318         0              0              0              75
  42  Knife           0.107          0.947          1.202          0              0              0              83
  43  SaltShaker      -0.361         0.111          -1.597         0              0              0              54
  44  PepperShaker    -0.106         0.921          0.970          0              0              0              83
  45  CellPhone       1.813          0.909          1.333          0              0              0              75
  46  ButterKnife     -0.106         0.925          0.738          0              0              0              83
  47  Bread           1.802          0.992          -1.610         0              0              0              75
  48  Tomato          -0.088         0.815          -1.435         0              0              0              99
  49  Potato          -1.645         1.492          -0.081         0              90             0              98
  50  DishSponge      1.553          0.911          1.107          0              0              0              75
  51  Spoon           1.661          0.581          0.531          0              0              0              79
  52  Mug             -1.692         0.558          -0.175         0              90             0              98
  53  Bowl            0.083          0.758          -1.490         0              0              0              99
  54  Cabinet         -0.495         0.474          -1.149         0              0              0
  55  Window          -0.010         1.582          -1.821         0              0              0
  56  Drawer          0.805          0.475          -1.159         0              0              0
  57  StoveBurner     1.764          0.902          0.601          0              270            0
  58  Drawer          1.5            0.196          -0.019         0              0              0
  59  Drawer          1.5            0.629          -0.018         0              0              0
  60  Drawer          1.5            0.602          -0.019         0              270            0
  61  StoveBurner     1.975          0.902          0.384          0              270            0
  62  Cabinet         -1.703         2.022          -1.453         0              90             0
  63  Cabinet         1.789          2.019          -0.819         0              270            0
  64  Cabinet         0.494          0.474          -1.149         0              0              0
  65  Cabinet         0.409          0.475          0.444          0              0              0
  66  Drawer          -0.696         0.475          -1.159         0              0              0
  67  Drawer          1.5            0.140          0.599          0              270            0
  68  Cabinet         1.389          0.474          -1.149         0              0              0
  69  Drawer          1.5            0.305          0.600          0              0              0
  70  StoveBurner     1.975          0.902          0.601          0              270            0
  71  Drawer          1.5            0.429          -0.019         0              0              0
  72  StoveBurner     1.764          0.902          0.819          0              270            0
  73  Drawer          1.5            0.519          1.220          0              0              0
  74  Cabinet         1.705          2.019          -1.449         0              0              0
  75  CounterTop      0.002          0.947          -1.513         0              0              0
  76  Drawer          1.5            0.629          0.605          0              0              0
  77  Cabinet         -0.627         2.019          -1.449         0              0              0
  78  StoveBurner     1.764          0.902          0.384          0              270            0
  79  Drawer          1.5            0.538          0.600          0              0              0
  80  Sink            0.0            0.893          -1.434         0              0              0
  81  Drawer          1.5            0.782          1.220          0              270            0
  82  Window          2.217          1.565          -0.384         0              0              0
  83  CounterTop      -0.014         0.961          0.505          0              0              0
  84  Drawer          1.5            0.200          1.220          0              0              0
  85  StoveBurner     1.975          0.902          0.819          0              270            0
  86  Window          -3.240         1.616          2.693          0              270            0
  87  Cabinet         -1.389         0.474          -1.149         0              0              0
  88  LightSwitch     -0.153         1.291          3.700          0              180            0
  89  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  90  StoveKnob       1.602          0.917          0.570          0              270            180
  91  StoveKnob       1.602          0.917          0.625          0              270            180
  92  StoveKnob       1.602          0.917          0.739          0              270            180
  93  StoveKnob       1.602          0.917          0.680          0              270            180
  94  StoveKnob       1.602          0.917          0.462          0              270            180
  95  StoveKnob       1.602          0.917          0.517          0              270            180
  96  Microwave       1.932          0.899          -0.766         0              270            0
  97  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  98  Fridge          -1.764         0.0            0.014          0              90             0
  99  SinkBasin       -0.014         0.736          -1.435         0              0              0
 100  Toaster         1.977          0.900          -0.336         0              270            0
 101  Faucet          -0.020         1.137          -1.605         0              270            0
 102  Chair           -9.354         0.000          1.242          0              180            0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn right and walk to face the right portion of the counter. | STEP 2: Pick up the green apple on the counter. | STEP 3: Turn around and walk straight to the microwave. | STEP 4: Place the apple on the plate inside the microwave, cook the apple and remove it. | STEP 5: With the apple, turn around, walk straight to the fridge, turn right when you reach the fridge, walk straight, then turn right to face the white waste basket and look down to it. | STEP 6: Place the cooked apple inside the waste basket. | END