Task: Put a heated apple 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          7.0            0              90             0
   1  Pan             1.562          0.988          3.848          0              0              0              43
   2  ButterKnife     0.028          0.760          6.787          0              90             0              85
   3  Kettle          1.317          0.988          4.294          0              0              0              44
   4  Spoon           0.847          0.993          0.303          0              180            0              49
   5  Fork            1.225          0.993          0.213          0              0              0              49
   6  Cup             -0.269         0.756          6.588          0              135            0              85
   7  Plate           1.489          2.207          3.794          0              0              0              40
   8  Plate           -0.384         0.993          0.578          0              0              0              49
   9  Bowl            0.815          0.142          0.418          0              0              0              55
  10  PepperShaker    -0.459         0.987          0.303          0              0              0              49
  11  Apple           -0.136         0.834          6.721          0              135            0              85
  12  Apple           1.135          1.067          4.624          0              0              0              50
  13  Apple           0.080          0.834          6.895          0              225            0              85
  14  Bowl            1.490          0.139          2.159          0              0              0              38
  15  Bread           1.225          1.062          3.231          0              0              0              49
  16  Egg             0.192          0.810          6.565          0              225            0              85
  17  Knife           0.260          0.801          0.451          0              90             0              46
  18  Fork            -0.027         0.760          6.612          0              225            0              85
  19  Apple           2.094          1.590          5.251          0              270            0              71
  20  Kettle          -0.467         0.761          6.479          0              270            0              85
  21  Plate           -0.413         0.144          0.277          0              0              0              57
  22  SaltShaker      0.319          1.574          0.383          0              0              0              63
  23  Lettuce         -0.221         0.848          6.941          0              0              0              85
  24  SoapBottle      -0.159         0.760          6.014          0              0              0              85
  25  Spatula         1.348          0.786          3.429          0              270            0              42
  26  PaperTowelRoll  -0.611         1.096          0.670          0              0              0              49
  27  Pot             0.734          0.981          0.38           0              0              0              49
  28  Potato          2.009          1.550          5.501          0              270            0              71
  29  ButterKnife     0.056          0.771          0.451          0              0              0              46
  30  PepperShaker    0.301          0.755          6.674          0              225            0              85
  31  Pan             1.313          0.985          4.284          0              0              0              44
  32  Tomato          0.305          0.809          6.541          0              270            0              85
  33  DishSponge      1.180          0.771          3.223          0              0              0              42
  34  Cup             1.500          1.573          1.288          0              0              0              49
  35  Spoon           1.236          0.772          3.154          0              0              0              42
  36  Mug             1.384          1.043          0.847          0              270            0              49
  37  Cabinet         1.307          2.455          4.360          0              0              0
  38  Cabinet         1.054          0.422          1.710          0              0              0
  39  Drawer          1.280          0.808          4.718          0              0              0
  40  Cabinet         1.307          2.455          3.607          0              0              0
  41  Drawer          0.736          0.802          0.521          0              0              0
  42  Drawer          1.276          0.802          3.291          0              0              0
  43  StoveBurner     1.562          0.982          3.848          0              0              0
  44  StoveBurner     1.317          0.982          4.294          0              0              0
  45  Drawer          -0.482         0.802          0.521          0              0              0
  46  Drawer          0.124          0.802          0.521          0              0              0
  47  StoveBurner     1.559          0.982          4.294          0              0              0
  48  StoveBurner     1.320          0.982          3.848          0              0              0
  49  CounterTop      1.391          1.028          0.897          0              0              0
  50  CounterTop      1.391          1.028          4.716          0              0              0
  51  Cabinet         1.054          0.422          4.548          0              0              0
  52  Cabinet         1.317          2.134          0.517          0              0              0
  53  Cabinet         1.317          2.134          4.889          0              0              0
  54  Cabinet         1.317          2.134          3.095          0              0              0
  55  Cabinet         0.443          0.422          0.743          0              0              0
  56  Cabinet         1.270          2.134          0.434          0              0              0
  57  Cabinet         -0.775         0.422          0.743          0              0              0
  58  Cabinet         -0.168         0.422          0.743          0              0              0
  59  Cabinet         1.317          2.134          1.534          0              0              0
  60  Cabinet         1.054          0.422          2.990          0              0              0
  61  Cabinet         1.054          0.422          2.944          0              0              0
  62  Cabinet         -0.263         2.134          0.434          0              0              0
  63  Cabinet         0.252          2.134          0.434          0              0              0
  64  Sink            1.391          1.006          2.326          0              0              0
  65  Microwave       0.108          0.981          0.262          0              0              0
  66  HousePlant      -0.165         0.826          6.444          0              0              0
  67  CoffeeMachine   1.551          0.982          0.953          0              270            0
  68  Toaster         1.473          0.981          4.715          0              270            0
  69  Window          -2.065         1.916          3.626          90             90             0
  70  Window          1.763          2.007          2.299          90             270            0
  71  Fridge          2.035          0.0            5.625          0              0              0
  72  SinkBasin       1.387          0.880          2.338          0              90             0
  73  GarbageCan      2.001          -0.044         6.503          0              0              0
  74  StoveKnob       1.140          0.934          3.987          45             270            0
  75  StoveKnob       1.140          0.934          4.309          45             270            0
  76  StoveKnob       1.140          0.934          4.140          45             270            0
  77  StoveKnob       1.140          0.934          3.824          45             270            0
  78  Vase            -0.226         0.834          6.993          0              0              0
  79  Vase            2.098          0.043          7.070          0              257.232        0
  80  Vase            -0.594         0.835          6.130          0              225            0
  81  LightSwitch     -2.0           1.549          6.045          0              90             0
  82  Safe            2.046          1.072          7.054          0              257.232        0
  83  Faucet          1.534          1.025          2.371          0              294.391        0
  84  Blinds          1.738          2.563          2.312          0              90             0
  85  DiningTable     -0.156         0.000          6.474          0              0              0
  86  Chair           0.291          0.002          6.142          0              310.162        0
  87  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn around, go to the round table. | STEP 2: Pick up the apple on the table, the one closer to the plant.  | STEP 3: Bring the apple to the left, across the room to the microwave on the counter.  | STEP 4: Heat the apple in the mike.  | STEP 5: Bring the heated apple back across the room, to the trash can past the fridge. | STEP 6: Put the heated apple in the trash can, left of the fridge.  | END