Task: Heat an apple and throw it away.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.75           0              0              0
   1  Potato          -0.642         0.810          -0.573         0              180            0              76
   2  Potato          -0.808         0.811          -0.573         0              90             0              76
   3  CreditCard      -0.477         0.930          -1.231         0              0              0              55
   4  DishSponge      0.793          0.153          -0.690         0              270            0              58
   5  Spoon           0.875          0.495          -0.607         0              270            0              59
   6  Spoon           0.773          0.912          -1.965         0              0              0              61
   7  Spatula         0.859          0.926          -0.555         0              180            0              56
   8  Spatula         0.914          0.168          -0.571         0              0              0              58
   9  Egg             -0.587         0.818          -0.400         0              90             0              76
  10  Egg             0.688          0.949          -2.136         0              0              0              61
  11  Cup             -0.846         0.930          0.315          0              0              0              55
  12  Cup             1.194          1.663          -0.273         0              270            0              64
  13  Tomato          0.773          0.952          -0.555         0              0              0              56
  14  Tomato          0.965          1.683          1.540          0              270            0              78
  15  SoapBottle      1.029          0.911          -0.208         0              0              0              56
  16  Bowl            1.026          0.866          1.254          0              270            0              78
  17  SaltShaker      0.956          0.698          -0.772         0              270            0              53
  18  Mug             0.903          0.942          -2.110         0              300.131        0              74
  19  Apple           -1.104         0.983          0.144          0              0              0              55
  20  Apple           -0.753         0.830          -0.745         0              90             0              76
  21  Statue          -1.104         0.936          -0.643         0              0              0              55
  22  Glassbottle     -0.753         0.781          -0.400         0              90             0              76
  23  Bread           -0.624         1.014          -1.231         0              0              0              55
  24  CreditCard      -1.881         0.551          2.667          0              0              0              81
  25  CellPhone       1.199          0.908          -0.208         0              0              0              56
  26  Potato          -0.912         0.209          0.510          0              180            0              75
  27  Knife           -0.698         0.957          -1.618         0              0              0              55
  28  Fork            -0.697         0.781          -0.832         0              180            0              76
  29  Pan             0.966          1.132          1.254          0              0              0              78
  30  Lettuce         0.944          0.988          0.139          0              0              0              56
  31  Plate           1.026          1.405          1.349          0              270            0              78
  32  Apple           0.688          0.961          -2.308         0              0              0              61
  33  Pot             1.077          0.950          -1.504         0              0              0              51
  34  Spatula         -0.808         0.795          -0.659         0              180            0              76
  35  PaperTowelRoll  -1.054         0.281          0.641          0              180            0              75
  36  Tomato          -0.624         0.974          0.086          0              0              0              55
  37  Egg             -0.846         0.971          -1.463         0              0              0              55
  38  SaltShaker      0.794          0.491          -0.772         0              270            0              59
  39  PepperShaker    0.954          0.150          -0.690         0              270            0              58
  40  Vase            0.773          0.911          -1.793         0              0              0              61
  41  ButterKnife     -0.698         0.933          0.086          0              0              0              55
  42  SoapBottle      0.944          0.911          -1.793         0              0              0              61
  43  Vase            1.193          1.667          0.280          0              270            0              63
  44  Bowl            -1.167         0.936          -0.905         0              0              0              55
  45  DishSponge      0.861          0.107          -1.812         0              0              0              60
  46  Spoon           0.944          0.912          -0.729         0              0              0              56
  47  Cup             1.082          2.205          -1.517         0              270            0              62
  48  Mug             1.194          1.661          -2.166         0              270            0              54
  49  StoveBurner     0.842          0.919          -1.098         0              0              0
  50  Cabinet         0.648          0.474          0.244          0              270            0
  51  StoveBurner     1.077          0.919          -1.504         0              0              0
  52  StoveBurner     0.842          0.919          -1.504         0              0              0
  53  Drawer          0.637          0.755          -0.649         0              270            0
  54  Cabinet         0.949          2.159          -2.375         0              270            0
  55  CounterTop      -1.238         0.968          -0.643         0              0              0
  56  CounterTop      0.931          0.946          -0.208         0              0              0
  57  StoveBurner     1.077          0.919          -1.098         0              0              0
  58  Drawer          0.637          0.268          -0.649         0              270            0
  59  Drawer          0.637          0.547          -0.649         0              270            0
  60  Cabinet         0.648          0.475          -1.714         0              0              0
  61  CounterTop      0.931          0.946          -2.051         0              0              0
  62  Cabinet         0.948          2.439          -1.780         0              270            0
  63  Cabinet         0.948          2.159          -0.140         0              270            0
  64  Cabinet         0.949          2.159          -0.758         0              270            0
  65  Sink            -0.699         0.927          -0.649         0              0              0
  66  LightSwitch     -2.371         1.218          3.049          0              180            0
  67  StoveKnob       0.673          0.899          -1.373         315            90             180
  68  StoveKnob       0.673          0.899          -1.519         315            90             180
  69  StoveKnob       0.673          0.899          -1.086         315            90             180
  70  StoveKnob       0.673          0.899          -1.237         315            90             180
  71  Toaster         0.984          0.900          0.329          0              270            0
  72  Window          0.014          0.998          -2.640         90             0              0
  73  Window          -2.996         0.998          -2.640         90             0              0
  74  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  75  GarbageCan      -0.946         -0.036         0.575          0              180            0
  76  SinkBasin       -0.698         0.765          -0.647         0              90             0
  77  Microwave       1.042          1.680          -1.295         0              270            0
  78  Fridge          0.966          0.0            1.253          0              0              0
  79  HousePlant      -1.354         0.919          -1.540         0              0              0
  80  Shelf           -1.635         0.172          2.715          0              180            0
  81  Shelf           -1.635         0.552          2.715          0              180            0
  82  Shelf           -1.635         0.880          2.715          0              180            0
  83  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  84  Chair           -1.832         0.002          -0.034         0              119.999        0
  85  Chair           -1.854         0.002          -0.956         0              67.887         0
  86  Faucet          -0.867         1.161          -0.651         0              0              0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn to the left, and then left again to face the trash can. | STEP 2: Pick up the apple from the island on the closer side. | STEP 3: Carry the apple and turn to the left and then right. Look up to the microwave. | STEP 4: Open the microwave and place the apple inside. Shut the door. Open the door and take out the apple. Shut the door. | STEP 5: Carry the apple and turn to the left, then the left again to face the trash can. | STEP 6: Place the apple in the trash can on the floor. | END