Task: Heat an apple in the microwave followed by throwing it away

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -1.0           0              90             0
   1  SprayBottle     1.148          0.114          -0.662         0              0              0              65
   2  SprayBottle     0.569          0.910          -1.789         0              0              0              81
   3  Potato          1.420          1.762          1.713          0              180            0              100
   4  Potato          1.441          1.307          0.188          0              270            0              103
   5  Ladle           -2.201         0.954          0.032          0              0              0              83
   6  Ladle           0.664          0.955          -1.619         0              0              0              81
   7  ButterKnife     1.343          0.911          0.031          0              0              0              81
   8  ButterKnife     1.093          0.911          -0.309         0              0              0              81
   9  DishSponge      -1.821         0.772          -1.532         0              0              0              86
  10  DishSponge      -0.063         0.782          -1.707         0              270            0              102
  11  Glassbottle     0.041          1.656          -1.876         0              0              0              71
  12  Fork            0.916          0.775          -1.123         0              90             0              59
  13  Fork            0.528          0.773          -1.533         0              0              0              85
  14  Spoon           0.320          0.920          -1.657         0              270            0              60
  15  Spoon           -1.886         0.911          -1.448         0              0              0              79
  16  Spatula         -1.712         0.925          0.291          0              90             0              83
  17  Spatula         1.068          0.788          0.539          0              270            0              58
  18  Pot             0.649          0.119          -1.537         0              90             0              75
  19  Egg             0.115          0.948          -1.859         0              270            0              60
  20  Cup             -1.732         0.910          -1.620         0              0              0              79
  21  Plate           1.343          0.911          -0.65          0              0              0              81
  22  Tomato          0.149          0.959          -1.708         0              270            0              60
  23  Tomato          -1.886         0.950          -1.707         0              0              0              79
  24  PepperShaker    1.335          1.157          -1.688         0              0              0              87
  25  SaltShaker      -1.809         0.905          -1.448         0              0              0              79
  26  SaltShaker      -2.323         0.905          0.463          0              0              0              83
  27  Bread           1.494          1.240          -1.688         0              0              0              87
  28  Lettuce         1.376          1.436          2.226          0              270            0              100
  29  Apple           1.323          1.754          1.713          0              270            0              100
  30  Apple           1.341          0.249          1.108          0              0              0              98
  31  Apple           -2.445         0.945          0.204          0              0              0              83
  32  Tomato          -1.886         0.950          -1.965         0              0              0              79
  33  Glassbottle     0.919          0.115          -1.301         0              0              0              66
  34  Knife           -1.732         0.940          -1.879         0              90             0              79
  35  Plate           0.889          1.656          -1.839         0              0              0              70
  36  Fork            -1.835         0.911          0.549          0              0              0              83
  37  Ladle           1.342          1.700          -0.579         0              0              0              69
  38  Potato          1.505          1.307          -0.021         0              270            0              103
  39  Lettuce         -2.079         0.979          0.204          0              0              0              83
  40  Kettle          1.208          0.118          0.313          0              0              0              64
  41  Pen             -2.187         0.775          -1.500         0              90             0              76
  42  SaltShaker      1.093          0.110          -1.013         0              0              0              66
  43  Cup             -2.041         0.112          -1.487         0              0              0              84
  44  Egg             1.275          1.396          2.351          0              270            0              100
  45  Spatula         -2.201         0.925          0.204          0              0              0              83
  46  Bowl            -1.039         1.851          -1.802         0              0              0              61
  47  SprayBottle     1.335          1.161          -1.002         0              0              0              87
  48  Pan             -1.431         0.949          -1.525         0              0              0              89
  49  SoapBottle      1.342          1.655          -0.658         0              90             0              69
  50  Pot             -1.431         0.949          -1.81          0              0              0              91
  51  ButterKnife     -1.835         0.910          0.204          0              90             0              83
  52  PepperShaker    1.494          1.157          -1.002         0              0              0              87
  53  DishSponge      -1.481         1.857          -1.910         0              0              0              74
  54  Bread           1.454          1.240          -1.345         0              0              0              87
  55  Apple           0.285          0.954          -1.758         0              270            0              60
  56  Spoon           0.149          0.920          -1.607         0              270            0              60
  57  Mug             1.420          1.715          1.901          0              270            0              100
  58  Drawer          0.860          0.75           0.430          0              0              0
  59  Drawer          0.871          0.75           -1.134         0              0              0
  60  Sink            0.156          0.817          -1.801         0              270            0
  61  Cabinet         -0.868         2.005          -1.690         0              0              0
  62  Cabinet         -1.661         2.059          -1.684         0              90             0
  63  Cabinet         -0.817         2.059          -1.689         0              0              0
  64  Cabinet         0.860          0.402          0.665          0              0              0
  65  Cabinet         0.860          0.402          -0.552         0              0              0
  66  Cabinet         0.860          0.402          -1.365         0              0              0
  67  Cabinet         -0.244         0.402          -1.389         0              0              0
  68  Cabinet         -0.815         0.402          -1.389         0              0              0
  69  Cabinet         1.159          2.059          -0.334         0              0              0
  70  Cabinet         0.488          2.059          -1.689         0              0              0
  71  Cabinet         -0.193         2.059          -1.689         0              0              0
  72  Drawer          0.860          0.75           -0.699         0              0              0
  73  Cabinet         1.159          2.059          -1.019         0              0              0
  74  Cabinet         -1.611         2.005          -1.690         0              0              0
  75  Cabinet         0.832          0.401          -1.393         0              90             0
  76  Drawer          -2.105         0.75           -1.389         0              0              0
  77  StoveBurner     -1.081         0.941          -1.809         0              0              0
  78  Cabinet         -0.202         0.401          -1.391         0              90             0
  79  CounterTop      -1.973         0.945          -1.707         0              0              0
  80  Drawer          -0.375         0.75           -1.389         0              0              0
  81  CounterTop      1.164          0.946          -0.649         0              0              0
  82  StoveBurner     -1.081         0.941          -1.527         0              0              0
  83  CounterTop      -2.096         0.945          0.291          0              0              0
  84  Cabinet         -2.237         0.402          -1.389         0              0              0
  85  Drawer          0.584          0.75           -1.389         0              0              0
  86  Drawer          -1.795         0.75           -1.389         0              0              0
  87  CounterTop      1.5            1.197          -0.654         0              0              0
  88  Cabinet         -1.667         0.402          -1.389         0              0              0
  89  StoveBurner     -1.430         0.941          -1.525         0              0              0
  90  Drawer          -0.685         0.75           -1.389         0              0              0
  91  StoveBurner     -1.430         0.941          -1.809         0              0              0
  92  LightSwitch     -2.539         1.289          2.568          0              90             0
  93  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  94  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  95  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  96  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  97  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  98  GarbageCan      1.343          0.015          1.041          0              0              0
  99  HousePlant      1.440          1.153          0.593          0              0              0
 100  Fridge          1.417          0.0            2.101          0              0              0
 101  Window          -0.486         1.452          3.302          90             0              0
 102  SinkBasin       -0.063         0.765          -1.713         0              270            0
 103  Microwave       1.422          1.150          0.022          0              270            0
 104  Toaster         -2.066         0.900          -1.848         0              0              0
 105  Stool           -1.994         0.010          0.882          0              0              0
 106  Faucet          -0.096         1.041          -1.867         0              270            0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn towards your right and face the sink | STEP 2: Pick up the green apple on the sink | STEP 3: Turn around and walk to the microwave on your right above the stove | STEP 4: Open the microwave and place the apple inside, warm it up and remove it | STEP 5: Turn to the left and face the trash bin at the end of the counter | STEP 6: Place the apple in the trash bin  | END