Task: Put a warm apple in the trash.

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              180            0
   1  Potato          0.321          0.949          1.202          0              0              0              76
   2  CellPhone       2.030          0.909          -1.610         0              0              0              68
   3  Ladle           1.962          1.703          -1.129         0              270            0              56
   4  Ladle           1.714          0.626          -0.165         0              270            0              53
   5  DishSponge      0.000          0.925          0.273          0              0              0              76
   6  Fork            -0.213         0.926          0.273          0              0              0              76
   7  Spoon           -0.213         0.926          0.041          0              0              0              76
   8  Spatula         0.000          0.940          0.970          0              180            0              76
   9  Pot             -0.106         0.929          1.202          0              0              0              76
  10  Egg             -1.753         1.086          0.295          0              90             0              91
  11  Cup             -0.867         1.677          -1.577         0              0              0              70
  12  Knife           1.658          0.143          0.672          0              180            0              60
  13  Knife           1.562          0.567          1.153          0              90             0              66
  14  SoapBottle      0.321          0.929          0.970          0              0              0              76
  15  Bowl            -0.361         0.113          -1.534         0              0              0              47
  16  PepperShaker    -0.361         0.111          -1.284         0              0              0              47
  17  Lettuce         -1.803         1.545          0.013          0              90             0              91
  18  Lettuce         0.107          1.002          0.506          0              0              0              76
  19  Mug             1.355          0.955          -1.362         0              0              0              90
  20  Mug             1.095          1.674          -1.652         0              0              0              67
  21  Apple           -0.213         0.978          0.970          0              0              0              76
  22  Apple           -0.320         0.978          0.738          0              0              0              76
  23  SoapBottle      -1.841         1.665          -1.056         0              90             0              55
  24  Cup             -1.803         1.660          -1.207         0              90             0              55
  25  Pot             1.975          0.938          0.819          0              180            0              78
  26  Fork            0.170          0.761          -1.380         0              270            0              92
  27  Ladle           1.813          0.955          1.408          0              0              0              68
  28  Kettle          1.681          0.9            0.091          0              0              0              68
  29  Egg             -0.175         0.817          -1.324         0              0              0              92
  30  Plate           0.250          0.111          -1.471         0              0              0              57
  31  Pan             -1.286         0.9            -1.348         0              79.769         0              68
  32  Lettuce         -1.697         1.753          0.201          0              90             0              91
  33  Spatula         0.000          0.940          1.202          0              180            0              76
  34  Apple           -1.796         0.095          1.288          0              270            0              82
  35  Knife           1.658          0.605          -0.238         0              180            0              53
  36  SaltShaker      0.107          0.921          0.273          0              0              0              76
  37  PepperShaker    -1.957         1.658          -1.358         0              90             0              55
  38  CellPhone       -0.320         0.923          0.506          0              0              0              76
  39  ButterKnife     1.658          0.763          1.220          0              270            0              74
  40  Bread           0.256          0.987          -0.076         0              330.886        0              76
  41  Tomato          0.000          0.980          0.738          0              0              0              76
  42  Potato          -1.783         0.863          0.201          0              90             0              91
  43  DishSponge      0.000          0.925          -0.190         0              0              0              76
  44  Spoon           1.603          0.584          -0.019         0              180            0              53
  45  Mug             0.083          0.755          -1.324         0              0              0              92
  46  Bowl            -1.639         0.909          -0.964         0              0              0              68
  47  Cabinet         -0.495         0.474          -1.149         0              0              0
  48  Window          -0.010         1.582          -1.821         0              0              0
  49  Drawer          0.805          0.475          -1.159         0              0              0
  50  StoveBurner     1.764          0.902          0.601          0              270            0
  51  Drawer          1.5            0.196          -0.019         0              0              0
  52  Drawer          1.5            0.629          -0.018         0              0              0
  53  Drawer          1.5            0.602          -0.019         0              270            0
  54  StoveBurner     1.975          0.902          0.384          0              270            0
  55  Cabinet         -1.703         2.022          -1.453         0              90             0
  56  Cabinet         1.789          2.019          -0.819         0              270            0
  57  Cabinet         0.494          0.474          -1.149         0              0              0
  58  Cabinet         0.409          0.475          0.444          0              0              0
  59  Drawer          -0.696         0.475          -1.159         0              0              0
  60  Drawer          1.5            0.140          0.599          0              270            0
  61  Cabinet         1.389          0.474          -1.149         0              0              0
  62  Drawer          1.5            0.305          0.600          0              0              0
  63  StoveBurner     1.975          0.902          0.601          0              270            0
  64  Drawer          1.5            0.429          -0.019         0              0              0
  65  StoveBurner     1.764          0.902          0.819          0              270            0
  66  Drawer          1.5            0.519          1.220          0              0              0
  67  Cabinet         1.705          2.019          -1.449         0              0              0
  68  CounterTop      0.002          0.947          -1.513         0              0              0
  69  Drawer          1.5            0.629          0.605          0              0              0
  70  Cabinet         -0.627         2.019          -1.449         0              0              0
  71  StoveBurner     1.764          0.902          0.384          0              270            0
  72  Drawer          1.5            0.538          0.600          0              0              0
  73  Sink            0.0            0.893          -1.434         0              0              0
  74  Drawer          1.5            0.782          1.220          0              270            0
  75  Window          2.217          1.565          -0.384         0              0              0
  76  CounterTop      -0.014         0.961          0.505          0              0              0
  77  Drawer          1.5            0.200          1.220          0              0              0
  78  StoveBurner     1.975          0.902          0.819          0              270            0
  79  Window          -3.240         1.616          2.693          0              270            0
  80  Cabinet         -1.389         0.474          -1.149         0              0              0
  81  LightSwitch     -0.153         1.291          3.700          0              180            0
  82  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  83  StoveKnob       1.602          0.917          0.570          0              270            180
  84  StoveKnob       1.602          0.917          0.625          0              270            180
  85  StoveKnob       1.602          0.917          0.739          0              270            180
  86  StoveKnob       1.602          0.917          0.680          0              270            180
  87  StoveKnob       1.602          0.917          0.462          0              270            180
  88  StoveKnob       1.602          0.917          0.517          0              270            180
  89  Microwave       1.932          0.899          -0.766         0              270            0
  90  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  91  Fridge          -1.764         0.0            0.014          0              90             0
  92  SinkBasin       -0.014         0.736          -1.435         0              0              0
  93  Toaster         1.977          0.900          -0.336         0              270            0
  94  Faucet          -0.020         1.137          -1.605         0              270            0
  95  Chair           -9.354         0.000          1.242          0              180            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn around and go forward toward the wall, then turn left and go to the trash bin. | STEP 2: Take the apple from the trash bin. | STEP 3: Turn left and go forward with the counter, then turn left to go to the microwave. | STEP 4: Open the microwave, put the apple inside and heat it up, then take it out. | STEP 5: Turn around, go around the kitchen island to return to the trash bin. | STEP 6: Put the apple inside of the trash bin. | END