Task: Put a cooked apple in a trash bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.0            0              0              0
   1  Potato          -1.050         0.935          -1.610         0              0              0              68
   2  ButterKnife     2.025          0.911          0.025          0              0              0              68
   3  ButterKnife     0.107          0.925          1.202          0              0              0              76
   4  Fork            0.000          0.926          0.970          0              90             0              76
   5  Spoon           0.107          0.926          0.506          0              0              0              76
   6  Spatula         1.810          0.704          0.608          0              0              0              69
   7  Spatula         -1.902         0.926          -0.864         0              270            0              68
   8  Egg             1.924          1.063          -0.547         0              270            0              89
   9  Cup             -1.645         1.467          0.107          0              90             0              91
  10  Plate           1.986          0.910          1.258          0              0              0              68
  11  Plate           1.195          0.107          -1.479         0              0              0              61
  12  Knife           1.813          0.933          1.408          0              270            0              68
  13  SoapBottle      0.214          0.929          0.506          0              0              0              76
  14  SoapBottle      -1.237         1.683          -1.577         0              0              0              70
  15  Bowl            -0.175         0.759          -1.490         0              0              0              92
  16  Bowl            0.214          0.924          0.273          0              0              0              76
  17  SaltShaker      0.107          0.921          0.738          0              0              0              76
  18  PepperShaker    1.509          0.907          0.331          0              0              0              68
  19  PepperShaker    2.039          1.655          -0.977         0              270            0              56
  20  Bread           -0.106         1.006          0.506          0              0              0              76
  21  Lettuce         -0.002         0.837          -1.380         0              0              0              92
  22  Lettuce         -0.320         1.002          0.041          0              0              0              76
  23  SoapBottle      -0.106         0.929          0.970          0              0              0              76
  24  Cup             -0.137         0.112          -1.347         0              0              0              47
  25  Pot             0.889          0.9            -1.412         0              0              0              68
  26  Fork            1.762          0.461          1.219          0              0              0              66
  27  Ladle           1.962          1.703          -1.204         0              270            0              56
  28  Kettle          1.765          0.938          0.819          0              180            0              65
  29  Egg             -0.106         0.982          0.273          0              0              0              76
  30  Plate           1.802          0.910          -1.415         0              0              0              68
  31  Pan             1.765          0.938          0.384          0              180            0              71
  32  Lettuce         -0.213         1.002          0.738          0              0              0              76
  33  Spatula         1.839          0.926          -0.131         0              90             0              68
  34  Apple           -0.106         0.978          0.041          0              0              0              76
  35  Knife           -0.106         0.947          1.202          0              0              0              76
  36  SaltShaker      0.801          0.667          -1.362         0              0              0              49
  37  PepperShaker    -0.106         0.921          -0.190         0              0              0              76
  38  CellPhone       -1.668         0.909          -1.610         0              0              0              68
  39  ButterKnife     0.000          0.925          -0.190         0              0              0              76
  40  Bread           0.256          0.987          -0.076         0              330.886        0              76
  41  Tomato          -1.256         0.966          -1.318         0              0              0              68
  42  Potato          2.020          1.030          -0.651         0              270            0              89
  43  DishSponge      1.640          0.911          1.333          0              0              0              68
  44  Spoon           -1.639         0.912          -1.063         0              0              0              68
  45  Mug             -1.727         0.906          -0.864         0              0              0              68
  46  Bowl            -0.361         0.113          -1.409         0              0              0              47
  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, go forward to the counter, turn right, go forward to the counter, turn right, go forward, turn right at the kitchen island. | STEP 2: Take the apple from behind the lettuce on the kitchen island counter. | STEP 3: Turn right, go forward to the counter, turn left, go forward to the microwave. | STEP 4: Cook the apple in the microwave. Take the apple from the microwave. | STEP 5: Turn around, go forward to the counter, turn right, go forward, turn left at the trash bin after passing the fridge, go to the bin. | STEP 6: Put the apple in the bin. | END