Task: Put a warm apple in the trash.

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          0.5            0              90             0
   1  Potato          -1.211         0.970          2.310          0              0              0              42
   2  Potato          -0.793         0.970          1.076          0              0              0              67
   3  DishSponge      1.344          0.746          2.391          0              0              0              45
   4  DishSponge      1.414          0.746          1.052          0              0              0              72
   5  Fork            -0.960         0.938          1.154          0              0              0              67
   6  Fork            -0.793         0.938          1.154          0              0              0              67
   7  Spoon           1.362          0.939          0.873          0              0              0              47
   8  Egg             -0.830         1.534          -0.034         0              90             0              74
   9  Egg             1.357          0.105          2.945          0              0              0              80
  10  Cup             1.516          0.936          1.007          0              0              0              47
  11  Cup             -1.081         1.499          2.553          0              180            0              64
  12  Tomato          -1.065         1.560          0.272          0              90             0              74
  13  Bowl            -1.037         1.946          1.924          0              0              0              57
  14  Bowl            -0.899         0.562          0.272          0              90             0              74
  15  SaltShaker      1.310          0.743          0.984          0              0              0              72
  16  Lettuce         1.669          1.028          0.940          0              0              0              47
  17  Mug             1.285          0.932          1.007          0              0              0              47
  18  Mug             1.670          1.496          2.526          0              0              0              61
  19  Apple           -0.877         1.548          0.119          0              90             0              74
  20  Apple           1.523          0.119          2.847          0              90             0              80
  21  Lettuce         -1.126         1.028          0.921          0              0              0              67
  22  SoapBottle      1.746          0.937          2.118          0              0              0              47
  23  Bread           -0.923         0.990          2.264          0              302.405        0              42
  24  Fork            -0.710         0.938          0.998          0              90             0              67
  25  Tomato          -0.937         0.627          -0.034         0              90             0              74
  26  Bowl            1.503          0.941          1.756          0              180            0              69
  27  Pot             -1.109         0.930          1.470          0              0              0              44
  28  Spatula         1.483          0.761          2.459          0              270            0              45
  29  Knife           -1.043         0.959          0.765          0              180            0              67
  30  SaltShaker      -1.126         0.934          1.076          0              0              0              67
  31  Apple           -1.018         1.368          0.042          0              90             0              74
  32  PepperShaker    1.469          0.078          2.181          0              0              0              51
  33  ButterKnife     -1.127         0.927          2.234          0              0              0              42
  34  Potato          -1.065         1.351          -0.110         0              90             0              74
  35  Plate           1.391          0.086          0.918          0              0              0              68
  36  DishSponge      1.382          0.100          0.474          0              0              0              52
  37  Egg             1.423          0.105          2.847          0              0              0              80
  38  Cup             1.388          0.842          1.341          0              180            0              84
  39  Pan             1.378          1.737          0.392          0              270            0              50
  40  Spoon           1.439          0.939          0.739          0              0              0              47
  41  Mug             -0.893         0.195          -0.044         0              90             0              74
  42  CounterTop      -0.973         0.973          2.386          0              0              0
  43  Drawer          -0.783         0.774          2.381          0              180            0
  44  StoveBurner     -1.108         0.922          1.470          0              0              0
  45  Drawer          1.370          0.774          2.391          0              0              0
  46  Stool           -0.748         0.008          3.116          0              0              0
  47  CounterTop      1.504          0.973          2.309          0              0              0
  48  Cabinet         1.219          1.388          0.591          0              0              0
  49  Cabinet         1.500          2.113          1.164          0              0              0
  50  Cabinet         1.219          2.010          0.591          0              0              0
  51  Cabinet         1.219          0.388          2.105          0              0              0
  52  Cabinet         1.219          0.553          0.591          0              0              0
  53  Cabinet         -0.913         2.113          1.164          0              0              0
  54  Cabinet         -0.633         0.388          0.627          0              0              0
  55  Cabinet         -0.913         2.050          -0.329         0              0              0
  56  Cabinet         -0.913         2.113          0.583          0              0              0
  57  Cabinet         -0.913         2.113          2.082          0              0              0
  58  Cabinet         -0.913         2.113          1.207          0              0              0
  59  Cabinet         1.500          2.113          2.082          0              0              0
  60  Cabinet         1.500          2.113          1.207          0              0              0
  61  Cabinet         1.500          1.810          2.691          0              0              0
  62  Cabinet         1.500          1.810          2.101          0              0              0
  63  Cabinet         -0.633         0.388          2.105          0              0              0
  64  Cabinet         -0.911         1.810          2.700          0              180            0
  65  Drawer          -0.783         0.774          0.915          0              180            0
  66  StoveBurner     -1.108         0.922          1.865          0              0              0
  67  CounterTop      -0.972         0.973          0.921          0              0              0
  68  Cabinet         1.219          0.388          0.631          0              0              0
  69  Sink            1.544          0.869          1.639          0              180            0
  70  StoveBurner     -0.832         0.922          1.865          0              0              0
  71  StoveBurner     -0.831         0.922          1.470          0              0              0
  72  Drawer          1.370          0.774          0.916          0              0              0
  73  Cabinet         -0.911         1.810          2.111          0              180            0
  74  Fridge          -1.001         0.0            0.119          0              0              0
  75  StoveKnob       -0.648         0.926          1.923          0              270            0
  76  StoveKnob       -0.648         0.926          1.363          0              270            0
  77  StoveKnob       -0.648         0.926          1.513          0              270            0
  78  StoveKnob       -0.648         0.926          1.763          0              270            0
  79  Toaster         -1.002         0.926          2.561          0              90             0
  80  GarbageCan      1.451          -0.029         2.912          0              0              0
  81  Microwave       1.632          1.480          1.645          0              270            0
  82  Window          0.224          1.601          3.509          90             0              0
  83  CoffeeMachine   1.692          0.926          2.453          0              270            0
  84  SinkBasin       1.461          0.833          1.369          0              180            0
  85  LightSwitch     0.451          1.412          -1.674         0              0              0
  86  Faucet          1.707          0.925          1.363          0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn left, go forward to the wall, turn right, then go towards the trash bin. | STEP 2: Take the apple from the trash bin. | STEP 3: Turn right, go forward, then turn left at the sink. | STEP 4: Heat the apple in the microwave, above the sink. | STEP 5: Go left, go forward, then turn right to face the trash bin. | STEP 6: Put the apple in the trash bin. | END