Task: Putting a sliced 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           -1.75          0.900          1.25           0              270            0
   1  Potato          -2.671         0.863          2.485          0              90             0              59
   2  Ladle           -2.840         0.867          0.352          0              0              0              41
   3  Spoon           -2.597         0.693          1.474          0              90             0              46
   4  Plate           -1.885         0.130          0.401          0              0              0              53
   5  Tomato          -2.608         0.873          0.129          0              0              0              41
   6  Tomato          -2.782         0.874          2.397          0              90             0              59
   7  Bowl            -2.609         0.118          1.510          0              0              0              52
   8  PepperShaker    -2.375         0.818          0.055          0              0              0              41
   9  Mug             -0.646         0.888          0.367          0              0              0              69
  10  Apple           -2.844         0.994          1.231          0              90             0              60
  11  Apple           -0.262         0.129          2.640          0              0              0              61
  12  Apple           -0.395         0.129          2.640          0              90             0              61
  13  Apple           -0.092         0.896          1.214          0              0              0              41
  14  Fork            -2.530         0.692          1.547          0              270            0              46
  15  Ladle           -2.540         1.893          2.368          0              0              0              51
  16  Pan             -0.244         0.829          1.684          0              0              0              40
  17  SoapBottle      -0.477         0.821          0.658          0              0              0              41
  18  Pot             -0.531         0.822          2.096          0              0              0              38
  19  Tomato          -2.671         1.495          2.485          0              90             0              59
  20  Potato          -1.967         0.736          0.381          0              0              0              68
  21  SaltShaker      -2.724         0.818          0.278          0              0              0              41
  22  Plate           -2.782         1.148          2.309          0              90             0              59
  23  Spatula         -2.375         0.838          0.203          0              0              0              41
  24  Knife           -2.662         0.819          0.557          90             300.034        0              41
  25  Egg             -1.481         0.721          0.338          0              0              0              68
  26  Cup             -2.726         1.144          1.957          0              90             0              59
  27  ButterKnife     -1.374         0.823          0.508          0              0              0              41
  28  Lettuce         -2.837         1.529          2.045          0              90             0              59
  29  PepperShaker    -2.840         0.818          0.129          0              0              0              41
  30  DishSponge      -0.477         0.823          1.214          0              0              0              41
  31  Bread           -0.979         0.855          0.249          0              29.999         0              41
  32  Spoon           -0.363         0.698          0.912          0              90             0              43
  33  Mug             -2.782         1.440          2.309          0              90             0              59
  34  Bowl            -2.540         1.845          1.926          0              0              0              35
  35  Cabinet         -2.377         2.015          1.720          0              0              0
  36  StoveBurner     -0.244         0.820          2.075          0              180            0
  37  Drawer          -0.402         0.703          1.252          0              0              0
  38  StoveBurner     -0.518         0.820          2.075          0              180            0
  39  Sink            -1.838         0.726          0.343          0              180            0
  40  StoveBurner     -0.244         0.820          1.684          0              0              0
  41  CounterTop      -1.557         0.859          0.277          0              0              0
  42  StoveBurner     -0.518         0.820          1.684          0              0              0
  43  Drawer          -0.404         0.704          0.912          0              0              0
  44  Drawer          -0.861         0.709          0.420          0              0              0
  45  Drawer          -1.133         0.706          0.418          0              0              0
  46  Drawer          -2.589         0.703          1.511          0              0              0
  47  Cabinet         -2.772         1.803          0.508          0              0              0
  48  Cabinet         -2.460         1.803          0.231          0              0              0
  49  Cabinet         -2.781         1.798          0.825          0              0              0
  50  Cabinet         -2.781         1.798          0.815          0              0              0
  51  Cabinet         -2.377         2.009          2.581          0              0              0
  52  Cabinet         -2.442         0.385          1.672          0              0              0
  53  Cabinet         -2.238         0.385          0.564          0              0              0
  54  Cabinet         -1.286         0.385          0.564          0              0              0
  55  Cabinet         -1.262         0.385          0.565          0              0              0
  56  Cabinet         -0.734         0.385          0.565          0              0              0
  57  Cabinet         -0.549         0.385          0.751          0              0              0
  58  Cabinet         -0.549         0.385          1.412          0              0              0
  59  Fridge          -2.782         0.0            2.221          0              0              0
  60  Microwave       -2.794         0.812          1.348          0              90             0
  61  GarbageCan      -0.329         2.205          2.606          0              0              0
  62  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  63  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  64  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  65  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  66  Window          -1.720         1.342          -0.208         90             0              0
  67  Toaster         -0.171         0.812          0.735          0              270            0
  68  SinkBasin       -1.745         0.687          0.295          0              0              0
  69  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  70  LightSwitch     -0.615         1.378          3.0            0              180            0
  71  Faucet          -1.686         0.954          0.176          0              236.223        0
  72  Stool           -1.008         0.008          1.955          0              18.279         0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Turn left and go to the left sink | STEP 2: Grab the knife out of the sink | STEP 3: Turn right and go to the microwave | STEP 4: Cut the apple in the microwave into three slices | STEP 5: Put the knife in the microwave | STEP 6: Grab a slice of apple out of the microwave | STEP 7: Turn right and go to the fridge | STEP 8: Leave the apple in the fridge. Take the apple out after some time | STEP 9: Turn around and go to the trash can | STEP 10: Put the apple in the trash can | END