Task: Put a heated apple in a 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           -1.5           0.900          5.75           0              270            0
   1  DishSponge      1.322          0.140          2.794          0              0              0              67
   2  ButterKnife     0.056          0.771          0.507          0              0              0              52
   3  Spoon           1.405          0.771          4.680          0              0              0              45
   4  Spoon           -0.034         0.761          6.478          0              0              0              91
   5  Fork            0.260          0.772          0.507          0              0              0              52
   6  Egg             0.221          1.147          0.310          0              0              0              71
   7  Egg             0.999          1.042          0.486          0              0              0              55
   8  Cup             1.135          0.988          0.895          0              0              0              55
   9  Plate           2.051          1.516          5.376          0              270            0              77
  10  Plate           1.490          0.141          2.159          0              0              0              44
  11  Tomato          0.212          0.809          6.196          0              135            0              91
  12  Tomato          -0.356         0.809          6.458          0              225            0              91
  13  SoapBottle      -0.422         0.760          6.653          0              135            0              91
  14  Bowl            0.440          1.578          0.207          0              0              0              69
  15  Bowl            1.406          0.139          3.291          0              0              0              66
  16  PepperShaker    0.815          0.138          0.260          0              0              0              61
  17  PepperShaker    0.683          1.574          0.251          0              0              0              69
  18  SaltShaker      1.404          2.202          4.043          0              0              0              46
  19  Mug             0.213          0.755          6.763          0              225            0              91
  20  Bowl            0.055          0.143          0.506          0              0              0              64
  21  Bread           -0.459         1.062          0.395          0              0              0              55
  22  Egg             1.276          0.940          2.034          0              90             0              78
  23  Knife           0.871          0.802          0.451          0              90             0              47
  24  Fork            0.305          0.760          6.354          0              90             0              91
  25  Apple           2.055          0.155          6.439          0              0              0              79
  26  Kettle          0.107          1.580          0.295          0              0              0              62
  27  Plate           1.573          0.141          2.720          0              0              0              67
  28  SaltShaker      0.150          0.755          6.291          0              270            0              91
  29  Lettuce         -0.284         0.848          6.787          0              0              0              91
  30  SoapBottle      1.450          2.207          4.262          0              90             0              43
  31  Spatula         0.938          0.787          0.507          0              90             0              47
  32  PaperTowelRoll  1.956          0.185          6.439          0              0              0              79
  33  Pot             0.734          0.981          0.38           0              0              0              55
  34  Potato          -0.034         0.794          6.323          0              0              0              91
  35  ButterKnife     -0.421         0.760          6.305          0              225            0              91
  36  PepperShaker    1.657          0.136          4.647          0              0              0              57
  37  Pan             1.559          0.988          4.294          0              0              0              53
  38  Tomato          -0.137         0.809          6.677          0              225            0              91
  39  DishSponge      -0.244         0.759          6.128          0              225            0              91
  40  Cup             0.150          0.756          6.479          0              270            0              91
  41  Spoon           1.332          0.897          2.525          0              90             0              78
  42  Mug             1.384          1.043          0.847          0              270            0              55
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn left and walk forward, then turn left and walk over to the fridge, turn left again and walk up to the small black bin to the left of the fridge. | STEP 2: Pick up the apple out of the small black bin. | STEP 3: Turn around and forward, then hang a left and walk across the room to the microwave on the counter. | STEP 4: Open the microwave and put the apple inside then close the door, turn on the microwave, after a couple seconds open the microwave and remove the now heated apple, then close the microwave. | STEP 5: Turn left and walk over to the counter, then turn left and walk across the room to the fridge. | STEP 6: Put the heated apple in the small black bin to the left of the fridge. | END