Task: Put a cooked apple 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           -0.5           0.900          1.0            0              180            0
   1  Pan             -1.081         0.949          -1.527         0              0              0              75
   2  Pan             -1.081         0.949          -1.81          0              0              0              70
   3  Pen             -2.103         0.775          -1.500         0              90             0              69
   4  Pen             0.416          0.777          -1.566         0              270            0              74
   5  ButterKnife     -0.401         0.911          -1.704         0              0              0              74
   6  ButterKnife     -0.703         0.911          -1.619         0              0              0              74
   7  DishSponge      0.110          0.114          -1.631         0              90             0              71
   8  Fork            -2.201         0.911          0.549          0              0              0              76
   9  Spoon           -0.344         0.775          -1.500         0              270            0              73
  10  Spoon           -1.809         0.911          -1.879         0              0              0              72
  11  Pot             1.414          1.164          -1.345         0              0              0              80
  12  Egg             0.285          0.948          -1.859         0              270            0              53
  13  Egg             1.376          1.396          2.226          0              270            0              93
  14  Cup             0.889          1.656          -1.801         0              0              0              63
  15  Cup             -1.481         1.858          -1.766         0              0              0              67
  16  Knife           0.149          0.949          -1.657         0              270            0              53
  17  Knife           1.343          0.941          0.031          0              0              0              74
  18  Tomato          0.183          0.959          -1.808         0              270            0              53
  19  PepperShaker    1.208          0.112          0.489          0              0              0              57
  20  SaltShaker      -0.996         1.845          -1.875         0              0              0              54
  21  Lettuce         1.494          1.231          -1.688         0              0              0              80
  22  Mug             1.420          1.715          1.901          0              270            0              93
  23  Apple           1.260          0.945          -1.331         0              0              0              74
  24  Apple           -0.063         0.817          -1.707         0              270            0              95
  25  Tomato          -2.079         0.950          0.032          0              0              0              76
  26  Glassbottle     1.302          0.215          1.051          0              0              0              91
  27  Knife           -1.886         0.940          -1.534         0              180            0              72
  28  Plate           1.461          1.656          -1.342         0              0              0              66
  29  Fork            -2.323         0.911          0.377          0              0              0              76
  30  Ladle           1.150          0.159          -1.129         0              0              0              59
  31  Potato          1.426          1.409          2.351          0              270            0              93
  32  Lettuce         1.494          1.231          -1.002         0              0              0              80
  33  Kettle          0.770          0.9            -1.836         0              0              0              74
  34  Pen             1.015          0.775          -1.178         0              0              0              52
  35  SaltShaker      1.090          0.109          -0.625         0              0              0              58
  36  Cup             1.388          1.720          1.713          0              270            0              93
  37  Egg             0.183          0.948          -1.657         0              270            0              53
  38  Spatula         -1.835         0.925          0.118          0              0              0              76
  39  Bowl            1.375          1.162          -0.659         0              0              0              80
  40  SprayBottle     1.034          0.117          0.430          0              0              0              57
  41  Pan             1.325          1.367          1.976          0              270            0              93
  42  SoapBottle      -2.445         0.910          0.118          0              0              0              76
  43  Pot             -1.431         0.949          -1.525         0              0              0              82
  44  ButterKnife     -2.201         0.910          0.118          0              0              0              76
  45  PepperShaker    -1.886         0.905          -1.879         0              0              0              72
  46  DishSponge      -0.458         1.655          -1.801         0              0              0              56
  47  Bread           -2.079         0.988          0.377          0              0              0              76
  48  Apple           1.420          0.249          1.08           0              0              0              91
  49  Spoon           -2.187         0.774          -1.500         0              270            0              69
  50  Mug             -1.125         1.845          -1.839         0              0              0              54
  51  Drawer          0.860          0.75           0.430          0              0              0
  52  Drawer          0.871          0.75           -1.134         0              0              0
  53  Sink            0.156          0.817          -1.801         0              270            0
  54  Cabinet         -0.868         2.005          -1.690         0              0              0
  55  Cabinet         -1.661         2.059          -1.684         0              90             0
  56  Cabinet         -0.817         2.059          -1.689         0              0              0
  57  Cabinet         0.860          0.402          0.665          0              0              0
  58  Cabinet         0.860          0.402          -0.552         0              0              0
  59  Cabinet         0.860          0.402          -1.365         0              0              0
  60  Cabinet         -0.244         0.402          -1.389         0              0              0
  61  Cabinet         -0.815         0.402          -1.389         0              0              0
  62  Cabinet         1.159          2.059          -0.334         0              0              0
  63  Cabinet         0.488          2.059          -1.689         0              0              0
  64  Cabinet         -0.193         2.059          -1.689         0              0              0
  65  Drawer          0.860          0.75           -0.699         0              0              0
  66  Cabinet         1.159          2.059          -1.019         0              0              0
  67  Cabinet         -1.611         2.005          -1.690         0              0              0
  68  Cabinet         0.832          0.401          -1.393         0              90             0
  69  Drawer          -2.105         0.75           -1.389         0              0              0
  70  StoveBurner     -1.081         0.941          -1.809         0              0              0
  71  Cabinet         -0.202         0.401          -1.391         0              90             0
  72  CounterTop      -1.973         0.945          -1.707         0              0              0
  73  Drawer          -0.375         0.75           -1.389         0              0              0
  74  CounterTop      1.164          0.946          -0.649         0              0              0
  75  StoveBurner     -1.081         0.941          -1.527         0              0              0
  76  CounterTop      -2.096         0.945          0.291          0              0              0
  77  Cabinet         -2.237         0.402          -1.389         0              0              0
  78  Drawer          0.584          0.75           -1.389         0              0              0
  79  Drawer          -1.795         0.75           -1.389         0              0              0
  80  CounterTop      1.5            1.197          -0.654         0              0              0
  81  Cabinet         -1.667         0.402          -1.389         0              0              0
  82  StoveBurner     -1.430         0.941          -1.525         0              0              0
  83  Drawer          -0.685         0.75           -1.389         0              0              0
  84  StoveBurner     -1.430         0.941          -1.809         0              0              0
  85  LightSwitch     -2.539         1.289          2.568          0              90             0
  86  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  87  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  88  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  89  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  90  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  91  GarbageCan      1.343          0.015          1.041          0              0              0
  92  HousePlant      1.440          1.153          0.593          0              0              0
  93  Fridge          1.417          0.0            2.101          0              0              0
  94  Window          -0.486         1.452          3.302          90             0              0
  95  SinkBasin       -0.063         0.765          -1.713         0              270            0
  96  Microwave       1.422          1.150          0.022          0              270            0
  97  Toaster         -2.066         0.900          -1.848         0              0              0
  98  Stool           -1.994         0.010          0.882          0              0              0
  99  Faucet          -0.096         1.041          -1.867         0              270            0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn and stand in front of the waste basket to the right of the fridge. | STEP 2: Take an apple from the waste basket. | STEP 3: Turn and go right to stand in front of the microwave. | STEP 4: Put the apple in the microwave, turn it on, take the apple out and shut the door. | STEP 5: Turn and move to the left and stand at the left edge of the counter. | STEP 6: Put the apple in the waste basket to the left of the counter. | END