Task: Put cold apple in a garbage can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          2.5            0              270            0
   1  Potato          -0.741         0.500          -1.348         0              0              0              72
   2  Ladle           1.839          0.954          0.467          0              90             0              45
   3  Ladle           1.806          1.699          -0.002         0              0              0              55
   4  ButterKnife     0.988          0.910          1.180          0              90             0              45
   5  Pot             1.807          0.909          0.075          0              180            0              46
   6  Fork            1.586          0.911          -1.460         0              90             0              49
   7  Fork            0.356          0.911          -1.352         0              180            0              49
   8  Spatula         0.732          0.925          0.827          0              180            0              45
   9  Egg             1.709          0.105          1.636          0              270            0              63
  10  Egg             0.894          0.795          -1.544         0              0              0              64
  11  Cup             1.706          1.013          -0.676         0              270            0              69
  12  Cup             0.159          0.909          -1.263         0              90             0              49
  13  Knife           1.796          0.943          -1.802         0              180            0              49
  14  SoapBottle      1.734          1.643          -1.806         0              0              0              59
  15  SoapBottle      1.796          0.909          -1.717         0              90             0              49
  16  Tomato          1.757          0.974          1.269          0              90             0              45
  17  Bowl            0.220          0.909          0.827          0              90             0              45
  18  Bowl            1.809          2.134          1.159          0              0              0              52
  19  SaltShaker      1.840          1.640          -1.724         0              0              0              59
  20  SaltShaker      1.840          1.640          -1.643         0              0              0              59
  21  PepperShaker    1.736          1.634          0.543          0              0              0              54
  22  Lettuce         -0.741         0.850          -1.594         0              0              0              72
  23  Plate           1.805          1.636          -1.378         0              0              0              58
  24  SoapBottle      1.876          1.631          -1.119         0              0              0              57
  25  Cup             1.762          0.908          0.363          0              90             0              45
  26  Egg             -0.644         1.718          -1.699         0              0              0              72
  27  Fork            1.205          0.752          -1.725         0              0              0              64
  28  Ladle           1.201          0.926          0.743          3.353          0              346.984        45
  29  Apple           0.989          0.967          0.739          0              90             0              45
  30  SaltShaker      1.839          0.905          0.622          0              90             0              45
  31  Pan             1.281          0.900          1.190          0              0              0              45
  32  Tomato          1.800          0.134          1.684          0              270            0              63
  33  Spatula         0.220          0.925          1.004          0              180            0              45
  34  Potato          -0.692         1.429          -1.594         0              0              0              72
  35  Knife           1.139          0.760          -1.584         271.482        84.261         275.895        64
  36  ButterKnife     1.757          0.910          1.004          0              90             0              45
  37  Bread           1.615          0.977          0.761          0              50.525         0              45
  38  Lettuce         1.865          1.011          -1.545         0              90             0              49
  39  PepperShaker    1.841          1.648          -0.449         0              0              0              56
  40  Pot             1.543          0.909          -0.320         0              90             0              48
  41  DishSponge      1.805          1.653          -0.305         0              0              0              56
  42  Spoon           1.165          0.750          -1.494         0              342.866        0              64
  43  Bowl            0.193          0.900          1.170          0              0              0              45
  44  Mug             0.502          0.940          -1.460         0              0              0              71
  45  CounterTop      0.989          0.946          1.016          0              90             0
  46  StoveBurner     1.807          0.907          0.075          0              180            0
  47  StoveBurner     1.807          0.907          -0.320         0              180            0
  48  StoveBurner     1.543          0.907          -0.320         0              90             0
  49  CounterTop      0.989          0.946          -1.516         0              90             0
  50  Sink            1.100          0.906          -1.599         0              0              0
  51  StoveBurner     1.548          0.907          0.075          0              180            0
  52  Cabinet         1.658          2.299          1.313          0              0              0
  53  Cabinet         1.658          2.299          0.686          0              0              0
  54  Cabinet         1.658          2.049          0.673          0              0              0
  55  Cabinet         1.658          2.059          0.193          0              0              0
  56  Cabinet         1.658          2.059          -0.593         0              0              0
  57  Cabinet         1.658          2.049          -0.606         0              0              0
  58  Cabinet         1.658          2.049          -1.206         0              0              0
  59  Cabinet         1.658          2.049          -1.893         0              0              0
  60  Toaster         0.131          0.900          -1.589         0              0              0
  61  Window          -0.372         1.588          3.349          90             0              0
  62  Window          0.782          1.741          -1.893         90             0              0
  63  GarbageCan      1.770          -0.029         1.685          0              270            0
  64  SinkBasin       1.091          0.740          -1.599         0              0              0
  65  StoveKnob       1.364          0.821          0.086          48.421         270            0
  66  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  67  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  68  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  69  Microwave       1.752          0.900          -0.843         0              270            0
  70  LightSwitch     2.0            1.261          3.094          0              270            0
  71  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  72  Fridge          -0.533         0.0            -1.554         0              0              0
  73  Chair           1.068          0.000          1.752          0              191.622        0
  74  Faucet          1.110          1.138          -1.764         0              270            0
  75  Chair           0.357          0.000          1.710          0              178.899        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn to the left, go forward past the counter, turn to the left, go forward to the stove, turn to the left to the counter where the apple is.  | STEP 2: Pick up the apple that is on the counter.  | STEP 3: Put the apple down on to the counter. | STEP 4: Pick up the apple from the counter then put it back down.  | STEP 5: Pick up the butter knife that is on the counter.  | STEP 6: Cut the apple with the knife.  | STEP 7: Put the knife down on the counter behind the frying pan.  | STEP 8: Pick up a piece of the apple from the counter.  | STEP 9: Turn to the left, go forward, hang a left and go to the fridge.  | STEP 10: Put the apple in the freezer and close the door, remove the cold apple from the freezer and close the door.  | STEP 11: Turn around, go forward to the wall, hang a right, go to the garbage can. | STEP 12: Put the apple into the garbage can. | END