Task: Put the warm  slice apple in the trash bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          2.25           0              0              0
   1  Pan             1.845          0.948          -0.757         0              0              0              67
   2  Ladle           1.738          0.957          -1.680         0              0              0              70
   3  Ladle           1.465          1.704          -2.162         0              0              0              57
   4  DishSponge      1.773          0.552          2.534          0              0              0              96
   5  DishSponge      1.566          0.552          2.431          0              0              0              96
   6  WineBottle      1.919          0.914          -1.329         0              0              0              70
   7  WineBottle      0.066          0.931          1.448          0              0              0              87
   8  Spatula         0.689          0.928          -1.834         0              0              0              70
   9  Spoon           0.408          0.928          0.076          0              90             0              87
  10  Fork            0.294          0.927          0.762          0              0              0              87
  11  Egg             -1.648         1.558          -0.392         0              90             0              78
  12  Cup             1.557          0.913          -1.329         0              0              0              70
  13  Cup             -1.495         1.504          -0.910         0              90             0              78
  14  Knife           -0.230         0.936          -1.713         0              180            0              70
  15  SoapBottle      1.947          1.656          -1.737         0              270            0              60
  16  SoapBottle      1.462          0.551          2.534          0              0              0              90
  17  Bowl            -1.284         2.144          -1.202         0              90             0              54
  18  Bowl            0.522          0.923          0.076          0              0              0              87
  19  Lettuce         1.850          0.994          -2.085         0              0              0              70
  20  SaltShaker      0.180          0.923          0.076          0              0              0              87
  21  SaltShaker      0.180          0.923          0.305          0              0              0              87
  22  PepperShaker    0.294          0.923          0.305          0              0              0              87
  23  PepperShaker    -0.963         0.909          -2.260         0              0              0              70
  24  Mug             1.255          0.548          2.482          0              0              0              96
  25  Mug             -1.495         1.178          -0.910         0              90             0              78
  26  Apple           -0.137         0.835          -2.026         0              0              0              82
  27  Apple           0.294          0.997          0.534          0              0              0              87
  28  Apple           -0.616         0.984          -2.200         0              0              0              70
  29  Potato          0.522          0.956          0.991          0              0              0              87
  30  Bowl            0.444          1.655          -2.125         0              0              0              59
  31  SoapBottle      1.256          0.117          -1.968         0              0              0              62
  32  Fork            -0.720         0.914          -2.101         0              0              0              70
  33  Ladle           0.481          0.947          1.420          0              0              346.772        87
  34  Bread           0.066          0.972          0.762          0              0              0              87
  35  Lettuce         -1.438         1.264          -0.599         0              90             0              78
  36  WineBottle      1.362          0.881          2.429          0              0              0              97
  37  Spatula         0.066          0.941          1.220          0              0              0              87
  38  Plate           -1.316         1.663          -1.729         0              90             0              53
  39  SaltShaker      1.988          1.654          -1.240         0              270            0              61
  40  Pot             -0.117         0.921          1.5            0              0              0              87
  41  Cup             0.294          0.927          0.991          0              0              0              87
  42  PepperShaker    1.464          0.877          2.510          0              0              0              97
  43  Pan             1.567          0.948          -0.757         0              0              0              52
  44  ButterKnife     0.457          0.913          -2.002         0              0              0              70
  45  Tomato          0.522          0.982          0.762          0              0              0              87
  46  DishSponge      1.669          0.880          2.483          0              0              0              90
  47  Egg             1.647          0.967          -1.212         0              0              0              70
  48  Spoon           0.294          0.928          0.076          0              0              0              87
  49  Knife           -0.346         0.936          -1.762         0              0              0              70
  50  Mug             1.259          0.875          2.456          0              0              0              97
  51  StoveBurner     1.845          0.940          -0.355         0              0              0
  52  StoveBurner     1.567          0.940          -0.757         0              0              0
  53  Cabinet         -1.149         2.019          -1.979         0              90             0
  54  Cabinet         -1.149         2.265          -0.834         0              90             0
  55  Cabinet         -0.459         2.265          -2.0           0              0              0
  56  Cabinet         -1.100         2.019          -2.0           0              0              0
  57  Cabinet         1.719          2.019          -2.0           0              0              0
  58  Cabinet         1.179          2.019          -2.0           0              0              0
  59  Cabinet         0.199          2.019          -2.0           0              0              0
  60  Cabinet         1.75           2.019          -1.399         0              270            0
  61  Cabinet         1.75           2.019          -1.029         0              270            0
  62  Cabinet         1.379          0.469          -1.689         0              0              0
  63  Cabinet         -0.819         0.469          -1.689         0              0              0
  64  Cabinet         1.389          0.469          -1.059         0              270            0
  65  Cabinet         -0.839         0.469          -1.665         0              90             0
  66  StoveBurner     1.567          0.940          -0.355         0              0              0
  67  StoveBurner     1.845          0.940          -0.757         0              0              0
  68  Sink            -0.109         0.893          -2.009         0              0              0
  69  Drawer          -0.819         0.75           -1.690         0              0              0
  70  CounterTop      0.232          0.949          -2.002         0              0              0
  71  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  72  Vase            0.251          0.546          0.475          0              270            0
  73  Toaster         0.780          0.900          -2.080         0              0              0
  74  LightSwitch     0.108          1.315          2.75           0              180            0
  75  Vase            0.400          0.925          0.218          0              180            0
  76  Microwave       -1.233         0.900          -1.680         0              90             0
  77  Vase            1.465          1.662          -2.200         0              0              0
  78  Fridge          -1.495         0.0            -0.703         0              0              0
  79  Window          2.114          1.495          1.072          90             270            0
  80  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  81  Vase            0.333          0.546          1.272          0              270            0
  82  SinkBasin       -0.148         0.753          -2.026         0              0              0
  83  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  84  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  85  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  86  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  87  DiningTable     0.170          0.005          0.678          0              270            0
  88  Shelf           0.170          0.155          0.678          0              270            0
  89  Shelf           1.605          0.172          2.480          0              0              0
  90  Shelf           1.605          0.552          2.480          0              0              0
  91  Shelf           1.604          0.880          2.479          0              0              0
  92  ShelvingUnit    1.605          0.006          2.480          0              0              0
  93  Faucet          -0.143         1.028          -2.223         0              270            0
  94  Stool           -0.553         0.000          0.871          1.233          280.376        0
  95  Shelf           0.170          0.528          0.678          0              270            0
  96
  97
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn left walk forward then head to the sink  | STEP 2: Pick up the first knife in front of the sink | STEP 3: Turn left move forward then turn left make a step then face the table | STEP 4: Slice the apple on the table | STEP 5: Turn left and face the trash bin | STEP 6: Put the knife in the trash bin  | STEP 7: Turn left then head to the table | STEP 8: Pick up a slice of apple  | STEP 9: Turn left then head to the microwave | STEP 10: Put in and out the slice apple in the microwave | STEP 11: 
Turn right and head to the trash bin | STEP 12: Put the slice apple in the trash bin | END