Task: put a cooked apple into 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           0.5            0.900          3.0            0              270            0
   1  Potato          -1.018         1.351          0.118          0              90             0              77
   2  Potato          1.390          0.102          2.945          0              0              0              83
   3  ButterKnife     -0.793         0.937          0.843          0              0              0              70
   4  Fork            -1.126         0.938          1.076          0              0              0              70
   5  Fork            -0.723         0.747          1.050          0              270            0              68
   6  Spoon           -0.792         0.747          2.381          0              270            0              46
   7  Spatula         -0.758         0.761          2.381          0              270            0              46
   8  Spatula         -0.876         0.952          0.998          0              90             0              70
   9  Pot             -1.109         0.930          1.865          0              0              0              69
  10  Egg             -0.830         1.354          0.119          0              90             0              77
  11  Egg             -0.924         1.534          0.272          0              90             0              77
  12  Cup             1.439          0.936          1.074          0              0              0              50
  13  Plate           1.391          0.086          0.777          0              0              0              71
  14  Knife           -0.689         0.768          1.050          0              270            0              68
  15  Knife           -0.689         0.768          2.245          0              90             0              46
  16  Tomato          -0.971         1.560          -0.034         0              90             0              77
  17  Bowl            1.456          0.941          1.714          0              180            0              72
  18  PepperShaker    -1.211         0.934          2.310          0              0              0              46
  19  Mug             1.528          1.002          2.345          0              270            0              50
  20  Mug             -1.012         0.810          -0.034         0              90             0              77
  21  Apple           -1.043         0.987          0.921          0              0              0              70
  22  Apple           -0.960         0.987          1.076          0              0              0              70
  23  Apple           -1.127         0.987          2.159          0              0              0              45
  24  Lettuce         1.669          1.028          0.940          0              0              0              50
  25  SoapBottle      -1.121         1.500          2.275          0              180            0              76
  26  Bread           -0.923         0.990          2.265          0              302.470        0              45
  27  Fork            1.275          0.747          0.848          0              90             0              75
  28  Tomato          -0.860         0.627          0.042          0              90             0              77
  29  Bowl            1.700          1.944          1.457          0              0              0              63
  30  Pot             -1.109         0.930          1.470          0              0              0              47
  31  Spatula         -0.710         0.952          0.687          0              0              0              70
  32  Knife           1.362          0.959          0.806          0              90             0              50
  33  SaltShaker      1.787          0.934          1.566          0              0              0              50
  34  Apple           1.523          0.119          2.912          0              0              0              83
  35  PepperShaker    -1.038         1.824          0.303          0              0              0              59
  36  ButterKnife     -1.043         0.937          0.687          0              0              0              70
  37  Potato          -0.877         1.351          -0.034         0              90             0              77
  38  Plate           1.377          1.059          0.012          0              0              0              51
  39  DishSponge      -0.960         0.937          0.765          0              0              0              70
  40  Egg             1.597          0.979          1.798          0              180            0              72
  41  Cup             -1.126         0.936          0.765          0              0              0              70
  42  Pan             1.378          1.737          0.392          0              270            0              53
  43  Spoon           1.597          0.945          1.673          0              270            0              72
  44  Mug             1.422          0.838          1.369          0              0              0              87
  45  CounterTop      -0.973         0.973          2.386          0              0              0
  46  Drawer          -0.783         0.774          2.381          0              180            0
  47  StoveBurner     -1.108         0.922          1.470          0              0              0
  48  Drawer          1.370          0.774          2.391          0              0              0
  49  Stool           -0.748         0.008          3.116          0              0              0
  50  CounterTop      1.504          0.973          2.309          0              0              0
  51  Cabinet         1.219          1.388          0.591          0              0              0
  52  Cabinet         1.500          2.113          1.164          0              0              0
  53  Cabinet         1.219          2.010          0.591          0              0              0
  54  Cabinet         1.219          0.388          2.105          0              0              0
  55  Cabinet         1.219          0.553          0.591          0              0              0
  56  Cabinet         -0.913         2.113          1.164          0              0              0
  57  Cabinet         -0.633         0.388          0.627          0              0              0
  58  Cabinet         -0.913         2.050          -0.329         0              0              0
  59  Cabinet         -0.913         2.113          0.583          0              0              0
  60  Cabinet         -0.913         2.113          2.082          0              0              0
  61  Cabinet         -0.913         2.113          1.207          0              0              0
  62  Cabinet         1.500          2.113          2.082          0              0              0
  63  Cabinet         1.500          2.113          1.207          0              0              0
  64  Cabinet         1.500          1.810          2.691          0              0              0
  65  Cabinet         1.500          1.810          2.101          0              0              0
  66  Cabinet         -0.633         0.388          2.105          0              0              0
  67  Cabinet         -0.911         1.810          2.700          0              180            0
  68  Drawer          -0.783         0.774          0.915          0              180            0
  69  StoveBurner     -1.108         0.922          1.865          0              0              0
  70  CounterTop      -0.972         0.973          0.921          0              0              0
  71  Cabinet         1.219          0.388          0.631          0              0              0
  72  Sink            1.544          0.869          1.639          0              180            0
  73  StoveBurner     -0.832         0.922          1.865          0              0              0
  74  StoveBurner     -0.831         0.922          1.470          0              0              0
  75  Drawer          1.370          0.774          0.916          0              0              0
  76  Cabinet         -0.911         1.810          2.111          0              180            0
  77  Fridge          -1.001         0.0            0.119          0              0              0
  78  StoveKnob       -0.648         0.926          1.923          0              270            0
  79  StoveKnob       -0.648         0.926          1.363          0              270            0
  80  StoveKnob       -0.648         0.926          1.513          0              270            0
  81  StoveKnob       -0.648         0.926          1.763          0              270            0
  82  Toaster         -1.002         0.926          2.561          0              90             0
  83  GarbageCan      1.451          -0.029         2.912          0              0              0
  84  Microwave       1.632          1.480          1.645          0              270            0
  85  Window          0.224          1.601          3.509          90             0              0
  86  CoffeeMachine   1.692          0.926          2.453          0              270            0
  87  SinkBasin       1.461          0.833          1.369          0              180            0
  88  LightSwitch     0.451          1.412          -1.674         0              0              0
  89  Faucet          1.707          0.925          1.363          0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: turn around and move forward to face the trash can to the left of the counter | STEP 2: remove an apple from the trash can | STEP 3: turn to the right and move toward the sink, turn and face the sink | STEP 4: open the microwave door that is above the sink and place the apple inside of the microwave, cook the apple for three seconds, open the door and remove the apple from the microwave | STEP 5: turn to the left and move towards the end of the counter, turn and face the trash can at the end of the counter | STEP 6: put the apple back into the bottom of the trash can | END