Task: To heat an apple piece plus place it in 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           1.25           0.900          2.0            0              90             0
   1  Ladle           0.066          0.975          0.305          0              0              0              81
   2  Ladle           0.457          0.957          -1.834         0              0              0              64
   3  DishSponge      0.522          0.930          0.762          0              0              0              81
   4  DishSponge      1.829          0.086          0.006          0              0              0              65
   5  ButterKnife     -0.772         0.913          -2.200         0              0              0              64
   6  ButterKnife     0.066          0.926          1.448          0              0              0              81
   7  WineBottle      1.647          0.914          -1.446         0              0              0              64
   8  Pot             1.567          0.948          -0.757         0              0              0              46
   9  Spoon           0.066          0.931          1.448          0              0              0              81
  10  Fork            0.235          0.914          -1.725         0              0              0              64
  11  Fork            1.850          0.914          -2.169         0              0              0              64
  12  Cup             1.873          0.881          2.429          0              0              0              85
  13  Plate           1.218          0.122          -1.968         0              0              0              56
  14  Plate           1.359          0.556          2.482          0              0              0              84
  15  Knife           0.180          0.953          0.076          0              90             0              81
  16  SoapBottle      0.002          0.912          -1.725         0              0              0              64
  17  SoapBottle      1.738          0.912          -1.680         0              0              0              64
  18  Bowl            0.180          0.927          1.448          0              0              0              81
  19  SaltShaker      -1.355         1.655          -1.854         0              90             0              47
  20  Bread           -0.047         0.972          0.762          0              0              0              81
  21  Apple           -0.616         0.984          -2.167         0              0              0              64
  22  Apple           -0.047         1.001          0.305          0              0              0              81
  23  Potato          -1.284         1.044          -1.846         0              90             0              70
  24  Bowl            0.180          0.923          1.220          0              0              0              81
  25  SoapBottle      1.828          0.912          -1.329         0              0              0              64
  26  Fork            1.850          0.914          -1.918         0              0              0              64
  27  Ladle           -1.000         0.957          -2.188         0              0              0              64
  28  Bread           0.399          0.964          0.110          0              0              1.601          81
  29  Lettuce         0.522          1.011          1.448          0              0              0              81
  30  WineBottle      -0.160         0.927          0.534          0              0              0              81
  31  Spatula         -0.346         0.928          -1.725         0              0              0              64
  32  Plate           1.773          0.556          2.482          0              0              0              84
  33  SaltShaker      0.408          0.923          0.534          0              0              0              81
  34  Pot             -1.495         1.181          -0.910         0              180            0              72
  35  Cup             0.408          0.930          1.220          0              0              0              81
  36  PepperShaker    1.828          0.909          -1.095         0              0              0              64
  37  Pan             1.824          0.945          -0.346         0              0              0              45
  38  ButterKnife     0.294          0.926          0.534          0              0              0              81
  39  Tomato          -0.283         0.816          -1.936         0              0              0              76
  40  DishSponge      0.457          0.913          -2.169         0              0              0              64
  41  Egg             2.009          0.967          -1.797         0              0              0              64
  42  Spoon           -0.064         0.765          -1.981         0              0              0              76
  43  Knife           0.180          0.950          0.534          0              0              0              81
  44  Mug             -1.572         1.499          -0.495         0              90             0              72
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn around and walk around to face the opposite side of the center table. | STEP 2: Pick up the knife on the center table. | STEP 3: Turn right and walk forward to face the apple on the counter. | STEP 4: Cut the apple on the counter into three slices. | STEP 5: Turn left and walk to the end of the counter to face the trash can. | STEP 6: Place the knife in the trash can. | STEP 7: Turn around and walk around the room to face the apple on the counter. | STEP 8: Pick up the piece of apple on the counter. | STEP 9: Turn right to face the microwave. | STEP 10: Heat the apple piece in the microwave and remove it. | STEP 11: Turn around and walk to the end of the counter to face the trash can. | STEP 12: Place the apple piece in the trash can. | END