Task: Place the microwaved apple slice in the waste basket.

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          -0.75          0              0              0
   1  Potato          -1.682         0.863          0.201          0              90             0              93
   2  Potato          1.553          0.935          1.258          0              0              0              70
   3  CellPhone       1.714          0.760          1.292          0              270            0              76
   4  CellPhone       0.107          0.923          0.970          0              0              0              78
   5  Ladle           1.802          0.955          -1.513         0              0              0              70
   6  Ladle           0.214          0.969          0.738          0              0              0              78
   7  ButterKnife     0.000          0.925          0.506          0              0              0              78
   8  Fork            1.661          0.347          0.599          0              0              0              64
   9  Fork            1.862          0.545          1.088          0              90             0              68
  10  Spatula         1.764          0.241          0.599          0              0              0              64
  11  Pot             -0.213         0.929          0.738          0              0              0              78
  12  Pot             -0.844         0.915          -1.610         0              0              0              70
  13  Egg             -0.213         0.982          0.041          0              0              0              78
  14  Cup             -1.750         0.561          -0.175         0              90             0              93
  15  Cup             0.107          0.923          0.506          0              0              0              78
  16  SoapBottle      1.587          1.683          -1.577         0              0              0              69
  17  SoapBottle      1.962          1.662          -1.280         0              270            0              58
  18  Bowl            0.321          0.924          0.506          0              0              0              78
  19  SaltShaker      0.305          0.109          -1.534         0              0              0              59
  20  SaltShaker      1.574          0.907          -1.513         0              0              0              70
  21  PepperShaker    -0.137         0.111          -1.534         0              0              0              49
  22  Lettuce         -1.750         1.753          0.201          0              90             0              93
  23  Mug             1.355          0.955          -1.362         0              0              0              92
  24  Mug             0.107          0.920          0.738          0              0              0              78
  25  SoapBottle      0.214          0.929          1.202          0              0              0              78
  26  Cup             -1.697         1.467          -0.175         0              90             0              93
  27  Pot             1.975          0.938          0.819          0              180            0              80
  28  Fork            0.321          0.926          0.273          0              0              0              78
  29  Ladle           0.000          0.969          0.041          0              0              0              78
  30  Kettle          -1.151         0.114          -1.550         0              0              0              82
  31  Egg             -1.818         0.099          1.288          0              270            0              84
  32  Plate           -0.867         1.678          -1.614         0              0              0              72
  33  Pan             1.765          0.938          0.384          0              180            0              73
  34  Lettuce         0.214          1.002          0.273          0              0              0              78
  35  Spatula         0.083          0.775          -1.490         0              90             0              94
  36  Apple           -0.106         0.978          0.273          0              0              0              78
  37  Knife           1.986          0.933          1.333          0              0              0              70
  38  SaltShaker      1.195          0.105          -1.416         0              0              0              63
  39  PepperShaker    -1.114         1.675          -1.577         0              0              0              72
  40  CellPhone       -1.902         0.909          -1.013         0              0              0              70
  41  ButterKnife     -1.639         0.911          -1.013         0              0              0              70
  42  Bread           -1.668         0.992          -1.513         0              0              0              70
  43  Tomato          -0.088         0.815          -1.380         0              0              0              94
  44  Potato          -0.213         0.949          1.202          0              0              0              78
  45  DishSponge      0.000          0.925          -0.190         0              0              0              78
  46  Spoon           0.170          0.761          -1.435         0              0              0              94
  47  Mug             -0.175         0.755          -1.546         0              0              0              94
  48  Bowl            -0.249         0.113          -1.284         0              0              0              49
  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: Go straight and turn right to face the counter top to the right of the oven. | STEP 2: Pick the knife up from off of the counter. | STEP 3: Turn left, then to the right, then to the right again to face the other side of the island counter. | STEP 4: Slice the apple in to 3 slices. | STEP 5: Turn around and face the refrigerator. | STEP 6: Open the refrigerator, place the knife inside, and close the refrigerator. | STEP 7: Turn around to face the island counter. | STEP 8: Pick up one of the apple slices. | STEP 9: Turn to the right then straight to face the microwave. | STEP 10: Open the microwave, place the apple slice inside, close the microwave, wait a few seconds, open the microwave, pick up the apple slice, and close the microwave. | STEP 11: Turn around, go straight, then right, then left past the refrigerator to face the small waste basket. | STEP 12: Place the apple slice in the waste basket. | END