Task: Heat up an apple from the trash can in the microwave to put it back.

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 around to walk to the trash can next to the fridge. | STEP 2: Pick up the apple from the trash can. | STEP 3: Make a right to walk to the microwave. | STEP 4: Heat up the apple in the microwave, removing it afterwards. | STEP 5: Turn around and make a right to walk back to the trash can next to the fridge. | STEP 6: Put the apple in the trash can. | END