Task: To heat a piece of apple and place it in the trash can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          2.25           0              270            0
   1  Potato          -1.692         0.586          0.107          0              90             0              93
   2  CellPhone       1.713          0.114          -0.020         0              0              0              53
   3  Ladle           0.107          0.969          1.202          0              0              0              78
   4  Ladle           1.662          0.269          1.153          0              0              0              79
   5  DishSponge      -0.361         0.114          -1.347         0              0              0              49
   6  DishSponge      1.824          0.762          1.220          0              270            0              76
   7  ButterKnife     -0.106         0.925          0.970          0              0              0              78
   8  ButterKnife     1.658          0.121          0.454          0              270            0              62
   9  Fork            0.321          0.926          0.738          0              0              0              78
  10  Fork            1.769          0.120          0.745          0              270            0              62
  11  Spoon           -0.854         0.672          -1.332         0              90             0              61
  12  Pot             1.975          0.938          0.601          0              180            0              65
  13  Egg             2.020          1.063          -0.756         0              270            0              91
  14  Knife           0.107          0.947          0.970          0              0              0              78
  15  SoapBottle      -1.256         0.915          -1.707         0              0              0              70
  16  Tomato          -1.803         1.524          0.013          0              90             0              93
  17  Bowl            0.321          0.924          0.506          0              0              0              78
  18  SaltShaker      0.138          0.109          -1.282         0              0              0              59
  19  PepperShaker    1.195          0.105          -1.479         0              0              0              63
  20  Lettuce         0.000          1.002          0.738          0              0              0              78
  21  Lettuce         0.170          0.837          -1.435         0              0              0              94
  22  Mug             -0.249         0.109          -1.534         0              0              0              49
  23  Mug             1.956          1.001          -0.599         0              270            0              91
  24  Apple           -1.814         0.964          -1.013         0              0              0              70
  25  SoapBottle      0.000          0.929          0.041          0              0              0              78
  26  Cup             -0.213         0.923          1.202          0              0              0              78
  27  Pot             -0.106         0.929          -0.190         0              0              0              78
  28  Fork            1.769          0.763          1.292          0              270            0              76
  29  Ladle           1.574          0.955          -1.610         0              0              0              70
  30  Kettle          1.765          0.938          0.384          0              180            0              73
  31  Egg             -1.796         0.098          1.371          0              270            0              84
  32  Plate           1.813          0.910          1.258          0              0              0              70
  33  Pan             -1.286         0.9            -1.348         0              79.769         0              70
  34  Lettuce         -1.697         1.545          0.201          0              90             0              93
  35  Spatula         1.559          0.474          0.736          0              270            0              74
  36  Apple           0.107          0.978          0.273          0              0              0              78
  37  Knife           0.107          0.947          0.738          0              90             0              78
  38  SaltShaker      -1.880         1.658          -1.207         0              90             0              57
  39  PepperShaker    -0.699         0.667          -1.270         0              0              0              61
  40  CellPhone       -0.106         0.923          0.506          0              0              0              78
  41  ButterKnife     0.214          0.925          0.273          0              0              0              78
  42  Bread           0.256          0.987          -0.076         0              330.886        0              78
  43  Tomato          1.986          0.966          1.032          0              0              0              70
  44  Potato          1.986          0.935          1.258          0              0              0              70
  45  DishSponge      0.361          0.112          -1.408         0              0              0              59
  46  Spoon           0.321          0.926          0.970          0              0              0              78
  47  Mug             1.355          0.955          -1.362         0              0              0              92
  48  Bowl            -0.002         0.758          -1.490         0              0              0              94
  49  Cabinet         -0.495         0.474          -1.149         0              0              0
  50  Window          -0.010         1.582          -1.821         0              0              0
  51  Drawer          0.805          0.475          -1.159         0              0              0
  52  StoveBurner     1.764          0.902          0.601          0              270            0
  53  Drawer          1.5            0.196          -0.019         0              0              0
  54  Drawer          1.5            0.629          -0.018         0              0              0
  55  Drawer          1.5            0.602          -0.019         0              270            0
  56  StoveBurner     1.975          0.902          0.384          0              270            0
  57  Cabinet         -1.703         2.022          -1.453         0              90             0
  58  Cabinet         1.789          2.019          -0.819         0              270            0
  59  Cabinet         0.494          0.474          -1.149         0              0              0
  60  Cabinet         0.409          0.475          0.444          0              0              0
  61  Drawer          -0.696         0.475          -1.159         0              0              0
  62  Drawer          1.5            0.140          0.599          0              270            0
  63  Cabinet         1.389          0.474          -1.149         0              0              0
  64  Drawer          1.5            0.305          0.600          0              0              0
  65  StoveBurner     1.975          0.902          0.601          0              270            0
  66  Drawer          1.5            0.429          -0.019         0              0              0
  67  StoveBurner     1.764          0.902          0.819          0              270            0
  68  Drawer          1.5            0.519          1.220          0              0              0
  69  Cabinet         1.705          2.019          -1.449         0              0              0
  70  CounterTop      0.002          0.947          -1.513         0              0              0
  71  Drawer          1.5            0.629          0.605          0              0              0
  72  Cabinet         -0.627         2.019          -1.449         0              0              0
  73  StoveBurner     1.764          0.902          0.384          0              270            0
  74  Drawer          1.5            0.538          0.600          0              0              0
  75  Sink            0.0            0.893          -1.434         0              0              0
  76  Drawer          1.5            0.782          1.220          0              270            0
  77  Window          2.217          1.565          -0.384         0              0              0
  78  CounterTop      -0.014         0.961          0.505          0              0              0
  79  Drawer          1.5            0.200          1.220          0              0              0
  80  StoveBurner     1.975          0.902          0.819          0              270            0
  81  Window          -3.240         1.616          2.693          0              270            0
  82  Cabinet         -1.389         0.474          -1.149         0              0              0
  83  LightSwitch     -0.153         1.291          3.700          0              180            0
  84  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  85  StoveKnob       1.602          0.917          0.570          0              270            180
  86  StoveKnob       1.602          0.917          0.625          0              270            180
  87  StoveKnob       1.602          0.917          0.739          0              270            180
  88  StoveKnob       1.602          0.917          0.680          0              270            180
  89  StoveKnob       1.602          0.917          0.462          0              270            180
  90  StoveKnob       1.602          0.917          0.517          0              270            180
  91  Microwave       1.932          0.899          -0.766         0              270            0
  92  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  93  Fridge          -1.764         0.0            0.014          0              90             0
  94  SinkBasin       -0.014         0.736          -1.435         0              0              0
  95  Toaster         1.977          0.900          -0.336         0              270            0
  96  Faucet          -0.020         1.137          -1.605         0              270            0
  97  Chair           -9.354         0.000          1.242          0              180            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Walk forward and the left past the table and then turn left to face the table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn right and walk across the room and then turn right to face the apple on the counter. | STEP 4: Cut the apple on the counter into 3 pieces. | STEP 5: Turn right, walk past the fridge and turn right to face the trash can. | STEP 6: Place the knife in the trash can. | STEP 7: Turn left and walk across the room and turn right to face the apple on the counter. | STEP 8: Pick up a piece of the apple on the counter. | STEP 9: Turn around and walk across the room to face the microwave on the counter. | STEP 10: Heat the apple piece in the microwave and then remove it. | STEP 11: Turn around and walk across the room, then turn right and walk forward past the fridge, then turn left to face the trash can. | STEP 12: Put the apple piece in the trash can. | END