Task: Slice an apple, cook it, then place it inside a 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           -2.0           0.901          -2.25          0              90             0
   1  Potato          -0.127         1.056          -0.900         0              270            0              82
   2  DishSponge      -0.160         0.913          -3.213         0              0              0              45
   3  DishSponge      -0.419         0.915          -1.493         0              0              0              72
   4  Pot             -0.854         0.916          -3.729         0              0              0              45
   5  Spoon           -0.530         0.748          -2.968         0              90             0              75
   6  Fork            -2.439         0.714          -0.433         0              90             0              89
   7  Fork            -2.865         0.714          -0.496         0              225            0              89
   8  Egg             -0.257         0.951          -1.616         0              0              0              72
   9  Egg             -2.678         0.749          -0.353         0              0              0              89
  10  Cup             -2.372         1.295          -3.848         0              0              0              58
  11  Cup             -0.491         0.080          -1.337         0              0              0              50
  12  Plate           -0.413         0.078          -0.838         0              0              0              49
  13  Knife           -0.471         0.778          -1.563         0              90             0              68
  14  Tomato          -2.439         0.766          -0.496         0              270            0              89
  15  Tomato          -0.095         0.965          -0.507         0              0              0              72
  16  SoapBottle      -2.581         0.716          -0.496         0              270            0              89
  17  Bowl            -1.614         0.080          -3.634         0              0              0              61
  18  Bowl            -0.773         0.079          -3.675         0              0              0              47
  19  SaltShaker      -2.608         0.713          -0.841         0              135            0              89
  20  SaltShaker      -0.068         1.290          -1.428         0              0              0              51
  21  Mug             -3.079         1.393          -2.064         0              90             0              86
  22  Mug             -2.723         0.711          -0.558         0              270            0              89
  23  Apple           -3.393         0.956          -2.825         0              0              0              45
  24  Pot             -0.376         0.975          -2.031         0              180            0              74
  25  Egg             -0.176         0.951          -1.309         0              0              0              72
  26  Cup             -3.324         1.868          -2.029         0              0              0              55
  27  Bread           -2.270         0.954          -3.878         0              0              0              45
  28  Fork            -3.477         0.914          -3.026         0              0              0              45
  29  Pan             -2.808         0.912          -3.952         0              90             0              45
  30  Potato          -3.027         0.685          -2.064         0              90             0              86
  31  Lettuce         -1.338         0.982          -3.807         20.734         260.956        32.047         45
  32  Tomato          -3.234         1.063          -1.941         0              90             0              86
  33  Apple           -3.111         0.756          -0.652         0              225            0              89
  34  SoapBottle      -0.338         0.915          -1.370         0              0              0              72
  35  Spatula         -1.058         0.911          -3.656         358.849        0              0              45
  36  SaltShaker      -2.803         0.710          -0.638         0              0              0              89
  37  Knife           -3.066         0.746          -0.697         0              225            0              89
  38  PepperShaker    -3.346         0.910          -3.729         0              0              0              45
  39  ButterKnife     -3.255         0.713          -0.709         0              315            0              89
  40  Plate           -1.214         0.078          -3.673         0              0              0              60
  41  DishSponge      -1.707         0.790          -3.661         0              0              0              87
  42  Spoon           -1.845         0.791          -3.790         0              0              0              87
  43  Mug             -0.419         0.910          -0.490         0              0              0              72
  44  Bowl            -3.292         0.714          -0.558         0              270            0              89
  45  CounterTop      -1.789         0.949          -3.803         0              0              0
  46  Cabinet         -0.577         0.388          -3.476         0              0              0
  47  Cabinet         -0.605         0.388          -3.511         0              0              0
  48  Cabinet         -2.976         0.388          -3.201         0              0              0
  49  Cabinet         -0.577         0.388          -0.447         0              0              0
  50  Cabinet         -0.577         0.388          -1.725         0              0              0
  51  Cabinet         -0.226         1.803          -1.743         0              0              0
  52  Cabinet         -0.228         1.799          -0.447         0              0              0
  53  Cabinet         -6.010         1.139          -6.019         0              0              0
  54  Cabinet         -3.022         2.098          -2.681         0              0              0
  55  Cabinet         -3.022         2.098          -1.743         0              0              0
  56  Cabinet         -0.577         0.388          -2.736         0              0              0
  57  Cabinet         -3.232         1.803          -3.343         0              0              0
  58  Cabinet         -2.811         1.810          -3.764         0              0              0
  59  Cabinet         -1.233         1.810          -3.764         0              0              0
  60  Cabinet         -1.364         0.388          -3.511         0              0              0
  61  Cabinet         -1.380         0.388          -3.511         0              0              0
  62  Cabinet         -0.226         1.803          -2.725         0              0              0
  63  Cabinet         -0.236         2.098          -1.767         0              0              0
  64  Cabinet         -0.236         2.098          -2.705         0              0              0
  65  Cabinet         -0.193         1.210          -4.239         0              0              0
  66  Cabinet         -2.148         0.388          -3.511         0              0              0
  67  Drawer          -3.104         0.797          -2.968         0              0              0
  68  Drawer          -0.449         0.797          -1.410         0              0              0
  69  Sink            -1.786         0.902          -3.748         0              0              0
  70  StoveBurner     -0.376         0.936          -2.451         0              0              0
  71  Drawer          -0.449         0.797          -0.762         0              0              0
  72  CounterTop      -0.268         0.951          -1.089         0              0              0
  73  Drawer          -0.449         0.797          -3.348         0              0              0
  74  StoveBurner     -0.376         0.936          -2.031         0              180            0
  75  Drawer          -0.449         0.797          -2.968         0              0              0
  76  StoveBurner     -0.165         0.936          -2.030         0              180            0
  77  StoveBurner     -0.165         0.936          -2.450         0              0              0
  78  StoveKnob       -0.568         0.903          -2.313         45             270            0
  79  StoveKnob       -0.568         0.903          -2.470         45             270            0
  80  StoveKnob       -0.568         0.903          -2.166         45             270            0
  81  StoveKnob       -0.568         0.903          -2.003         45             270            0
  82  Microwave       -0.143         0.903          -0.908         0              270            0
  83  LightSwitch     -1.108         1.457          0.338          0              180            0
  84  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  85  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  86  Fridge          -3.188         0.0            -2.184         0              0              0
  87  SinkBasin       -1.786         0.779          -3.747         0              0              0
  88  Toaster         -0.230         0.903          -3.406         0              270            0
  89  DiningTable     -2.800         0.003          -0.505         0              0              0
  90  Chair           -3.044         0.003          -1.223         0              32.194         0
  91  Faucet          -1.791         1.136          -3.913         0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn left, walk straight, turn left towards the round wooden table | STEP 2: Pick up the knife with the yellow handle | STEP 3: Cut the red apple on the table into slices | STEP 4: Turn right, walk straight, turn left, walk straight, turn right towards the trash bin | STEP 5: Put the knife inside the trash bin | STEP 6: Turn left, walk straight, turn right towards the round wooden table | STEP 7: Pick up the red slice of apple | STEP 8: Turn right, walk straight, turn left, turn right, walk straight towards the counter with a microwave | STEP 9: Open the microwave, put the apple inside, set the timer, close the microwave, take out the apple, close the microwave | STEP 10: Turn left and walk towards the trash can | STEP 11: Place the apple inside the trash can | END