Task: Throw away green apples from the sink

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          1.5            0              270            0
   1  SprayBottle     0.649          0.116          -1.680         0              90             0              73
   2  Pen             -0.627         0.913          -1.874         0              0              0              79
   3  Pen             1.343          0.913          -1.672         0              0              0              79
   4  Potato          -1.957         0.952          0.032          0              0              0              81
   5  Ladle           -1.438         1.902          -1.838         0              0              0              72
   6  ButterKnife     -0.401         0.911          -1.619         0              0              0              79
   7  ButterKnife     0.664          0.911          -1.534         0              0              0              79
   8  DishSponge      0.977          0.114          -1.186         0              0              0              64
   9  DishSponge      -1.809         0.910          -1.965         0              0              0              77
  10  Fork            1.176          0.911          0.031          0              0              0              79
  11  Spatula         0.969          0.790          0.323          0              90             0              56
  12  Spatula         0.949          0.788          -1.013         0              270            0              57
  13  Pot             -1.431         0.949          -1.525         0              0              0              87
  14  Egg             1.302          0.243          1.166          0              0              0              96
  15  Cup             -0.685         0.112          -1.487         0              0              0              66
  16  Plate           1.342          1.656          -1.500         0              0              0              71
  17  Knife           -0.703         0.941          -1.704         0              270            0              79
  18  SoapBottle      1.494          1.162          -1.345         0              0              0              85
  19  Tomato          1.341          0.254          1.051          0              0              0              96
  20  Tomato          0.475          0.951          -1.448         0              0              0              79
  21  PepperShaker    0.279          1.650          -1.913         0              0              0              69
  22  PepperShaker    -2.323         0.905          0.032          0              0              0              81
  23  SaltShaker      0.528          0.112          -1.441         0              90             0              73
  24  SaltShaker      0.475          0.906          -1.704         0              0              0              79
  25  Bread           -1.712         0.988          0.291          0              0              0              81
  26  Lettuce         1.426          1.436          2.476          0              270            0              98
  27  Mug             -2.173         0.106          -1.584         0              90             0              82
  28  Apple           1.356          1.754          1.901          0              270            0              98
  29  Apple           0.149          0.954          -1.607         0              270            0              58
  30  Tomato          1.476          1.407          1.725          0              270            0              98
  31  Glassbottle     0.710          0.117          -1.489         0              90             0              73
  32  Knife           0.217          0.949          -1.657         0              270            0              58
  33  Plate           -1.809         0.911          -1.793         0              0              0              77
  34  Fork            1.101          0.775          0.539          0              270            0              56
  35  Ladle           -2.201         0.954          0.549          0              0              0              81
  36  Potato          -0.627         0.953          -1.534         0              90             0              79
  37  Lettuce         -2.079         0.979          0.291          0              0              0              81
  38  Kettle          0.770          0.9            -1.836         0              0              0              79
  39  Pen             0.641          0.776          -1.533         0              0              0              79
  40  SaltShaker      -1.860         0.111          -1.586         0              0              0              86
  41  Cup             1.473          1.265          -0.021         0              270            0              101
  42  Egg             1.275          1.396          1.851          0              270            0              98
  43  Spatula         -2.445         0.925          0.032          0              90             0              81
  44  Bowl            1.150          0.115          -1.129         0              0              0              64
  45  SprayBottle     -1.712         0.909          0.549          0              0              0              81
  46  Pan             -1.431         0.949          -1.81          0              0              0              89
  47  SoapBottle      1.375          1.162          -1.002         0              0              0              85
  48  Pot             -1.081         0.949          -1.81          0              0              0              75
  49  ButterKnife     -2.201         0.910          0.204          0              0              0              81
  50  PepperShaker    -0.116         1.650          -1.801         0              0              0              69
  51  DishSponge      1.036          0.774          -0.665         0              0              0              70
  52  Bread           1.093          0.989          -1.331         0              0              0              79
  53  Apple           0.217          0.954          -1.758         0              270            0              58
  54  Spoon           -1.821         0.775          -1.565         0              90             0              84
  55  Mug             1.376          1.260          0.188          0              270            0              101
  56  Drawer          0.860          0.75           0.430          0              0              0
  57  Drawer          0.871          0.75           -1.134         0              0              0
  58  Sink            0.156          0.817          -1.801         0              270            0
  59  Cabinet         -0.868         2.005          -1.690         0              0              0
  60  Cabinet         -1.661         2.059          -1.684         0              90             0
  61  Cabinet         -0.817         2.059          -1.689         0              0              0
  62  Cabinet         0.860          0.402          0.665          0              0              0
  63  Cabinet         0.860          0.402          -0.552         0              0              0
  64  Cabinet         0.860          0.402          -1.365         0              0              0
  65  Cabinet         -0.244         0.402          -1.389         0              0              0
  66  Cabinet         -0.815         0.402          -1.389         0              0              0
  67  Cabinet         1.159          2.059          -0.334         0              0              0
  68  Cabinet         0.488          2.059          -1.689         0              0              0
  69  Cabinet         -0.193         2.059          -1.689         0              0              0
  70  Drawer          0.860          0.75           -0.699         0              0              0
  71  Cabinet         1.159          2.059          -1.019         0              0              0
  72  Cabinet         -1.611         2.005          -1.690         0              0              0
  73  Cabinet         0.832          0.401          -1.393         0              90             0
  74  Drawer          -2.105         0.75           -1.389         0              0              0
  75  StoveBurner     -1.081         0.941          -1.809         0              0              0
  76  Cabinet         -0.202         0.401          -1.391         0              90             0
  77  CounterTop      -1.973         0.945          -1.707         0              0              0
  78  Drawer          -0.375         0.75           -1.389         0              0              0
  79  CounterTop      1.164          0.946          -0.649         0              0              0
  80  StoveBurner     -1.081         0.941          -1.527         0              0              0
  81  CounterTop      -2.096         0.945          0.291          0              0              0
  82  Cabinet         -2.237         0.402          -1.389         0              0              0
  83  Drawer          0.584          0.75           -1.389         0              0              0
  84  Drawer          -1.795         0.75           -1.389         0              0              0
  85  CounterTop      1.5            1.197          -0.654         0              0              0
  86  Cabinet         -1.667         0.402          -1.389         0              0              0
  87  StoveBurner     -1.430         0.941          -1.525         0              0              0
  88  Drawer          -0.685         0.75           -1.389         0              0              0
  89  StoveBurner     -1.430         0.941          -1.809         0              0              0
  90  LightSwitch     -2.539         1.289          2.568          0              90             0
  91  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  92  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  93  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  94  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  95  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  96  GarbageCan      1.343          0.015          1.041          0              0              0
  97  HousePlant      1.440          1.153          0.593          0              0              0
  98  Fridge          1.417          0.0            2.101          0              0              0
  99  Window          -0.486         1.452          3.302          90             0              0
 100  SinkBasin       -0.063         0.765          -1.713         0              270            0
 101  Microwave       1.422          1.150          0.022          0              270            0
 102  Toaster         -2.066         0.900          -1.848         0              0              0
 103  Stool           -1.994         0.010          0.882          0              0              0
 104  Faucet          -0.096         1.041          -1.867         0              270            0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn around then walk to the right towards the sink and face it | STEP 2: Pick up the green apple from the sink | STEP 3: Turn around and walk to the trash bin next to the refrigerator | STEP 4: Place the apple in the trash bin | STEP 5: Turn right and walk back to the kitchen sink | STEP 6: Pick up the green apple from the sink | STEP 7: Turn around and walk to the trash bin next to the refrigerator | STEP 8: Place the apple in the trash bin | END