Task: To clean a piece of apple and place it 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           -0.5           0.900          -0.25          0              180            0
   1  Potato          -2.669         0.214          -0.680         0              90             0              78
   2  ButterKnife     1.684          0.911          0.465          0              0              0              55
   3  Fork            -2.621         0.911          0.331          0              0              0              74
   4  Spoon           -2.621         0.912          0.631          0              0              0              74
   5  Spoon           -2.227         0.775          -0.121         0              90             0              64
   6  Spatula         -0.081         0.925          1.317          0              0              0              46
   7  Pot             1.411          0.929          0.064          0              0              0              75
   8  Pot             1.691          0.929          -0.335         0              0              0              54
   9  Plate           1.734          1.659          0.092          0              0              0              65
  10  Plate           -0.081         0.913          1.764          0              0              0              46
  11  Tomato          -2.578         1.342          -0.979         0              90             0              78
  12  Tomato          -0.211         0.953          1.094          0              0              0              46
  13  SoapBottle      -2.605         1.539          1.410          0              0              0              59
  14  SoapBottle      -2.564         1.539          0.270          0              0              0              69
  15  PepperShaker    1.342          0.905          -0.642         0              0              0              56
  16  SaltShaker      0.373          1.658          -1.802         0              90             0              53
  17  SaltShaker      -0.081         0.905          0.647          0              0              0              46
  18  Lettuce         -0.341         0.994          1.764          0              0              0              46
  19  Mug             -2.570         0.992          2.380          0              0              0              86
  20  Apple           -2.374         0.656          -0.962         0              90             0              78
  21  Apple           -2.439         1.150          -0.790         0              90             0              78
  22  Apple           -2.621         0.972          0.931          0              0              0              74
  23  Pan             0.0            0.9            0.948          0              29.999         0              46
  24  Knife           -2.227         0.799          0.391          0              90             0              63
  25  Apple           1.426          0.972          0.435          0              0              0              55
  26  Bowl            -2.439         1.086          -0.602         0              90             0              78
  27  Fork            -0.081         0.911          0.423          0              90             0              46
  28  Bread           -0.730         0.996          0.870          0              0              0              46
  29  Plate           -2.455         0.913          0.631          0              0              0              74
  30  Egg             -0.341         0.941          1.317          0              0              0              46
  31  Kettle          1.412          0.929          -0.335         0              0              0              47
  32  Potato          -2.485         1.336          -1.074         0              90             0              78
  33  SaltShaker      1.513          0.905          -0.684         0              0              0              56
  34  Lettuce         -2.455         0.994          1.530          0              0              0              74
  35  Cup             -2.206         0.908          1.230          0              0              0              74
  36  SoapBottle      -2.704         0.912          1.530          0              0              0              74
  37  Spatula         -0.341         0.925          0.870          0              0              0              46
  38  PaperTowelRoll  1.684          1.015          0.346          0              0              0              55
  39  ButterKnife     -2.538         0.910          1.530          0              0              0              74
  40  PepperShaker    -2.277         0.109          1.371          0              0              0              52
  41  DishSponge      -2.605         1.938          -0.522         0              0              0              68
  42  Pot             1.691          0.929          0.064          0              0              0              57
  43  Spoon           -0.211         0.912          0.423          0              0              0              46
  44  Tomato          1.598          0.953          0.435          0              0              0              55
  45  Mug             0.464          0.955          -1.593         0              0              0              56
  46  CounterTop      -0.360         0.946          1.093          0              0              0
  47  StoveBurner     1.412          0.923          -0.335         0              0              0
  48  StoveKnob       1.878          1.093          0.018          287.989        90             0
  49  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  50  Cabinet         -2.446         1.948          2.924          0              0              0
  51  Drawer          -2.276         0.792          0.902          0              0              0
  52  Cabinet         -2.145         0.402          1.578          0              0              0
  53  Cabinet         0.149          2.008          -1.603         0              90             0
  54  StoveBurner     1.691          0.923          -0.335         0              0              0
  55  CounterTop      1.585          0.946          0.405          0              0              0
  56  CounterTop      0.474          0.946          -1.625         0              0              0
  57  StoveBurner     1.691          0.923          0.064          0              0              0
  58  Cabinet         -2.446         1.948          1.687          0              0              0
  59  Cabinet         -2.446         1.948          1.640          0              0              0
  60  Sink            1.381          0.810          -1.271         0              225            0
  61  StoveKnob       1.878          1.093          0.150          287.989        90             0
  62  Cabinet         -2.145         0.402          -0.236         0              0              0
  63  Drawer          -2.276         0.792          0.437          0              0              0
  64  Drawer          -2.276         0.792          -0.027         0              0              0
  65  Cabinet         1.572          2.008          0.474          0              0              0
  66  Cabinet         1.572          2.008          -0.775         0              0              0
  67  Cabinet         -2.445         2.148          -1.275         0              0              0
  68  Cabinet         -2.446         2.148          -0.284         0              0              0
  69  Cabinet         -2.446         1.948          0.355          0              0              0
  70  Cabinet         -2.446         1.948          0.405          0              0              0
  71  Cabinet         -2.145         0.402          0.644          0              0              0
  72  Cabinet         -2.145         0.402          0.695          0              0              0
  73  Cabinet         -2.285         1.968          -1.325         0              180            0
  74  CounterTop      -1.485         0.946          1.319          0              0              0
  75  StoveBurner     1.411          0.923          0.064          0              0              0
  76  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  77  Drawer          -2.276         0.792          1.368          0              0              0
  78  Fridge          -2.475         0.0            -0.782         0              90             0
  79  LightSwitch     -0.929         1.350          -1.950         0              0              0
  80  Toaster         -2.564         0.900          1.876          0              90             0
  81  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  82  Window          1.508          1.534          -1.496         90             135            0
  83  Window          1.973          1.521          1.121          90             90             0
  84  SinkBasin       1.149          0.753          -1.380         0              225            0
  85  GarbageCan      1.646          -0.000         0.679          0              0              0
  86  Microwave       -2.580         0.900          2.440          0              90             0
  87  Stool           0.439          0.010          0.747          0              0              0
  88  Stool           -2.303         0.010          1.839          0              0              0
  89  Faucet          1.235          1.138          -1.473         0              225            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn left and walk forward to face the left end of the counter. | STEP 2: Pick up the apple on the counter. | STEP 3: Look down to face the edge of the counter. | STEP 4: Place the apple on the edge of the counter. | STEP 5: Pick up the knife on the back of the counter. | STEP 6: Cut the apple on the counter into three pieces. | STEP 7: Place the knife on the counter beside the apple. | STEP 8: Pick up a piece of apple on the counter. | STEP 9: Turn right and walk forward to face the right side of the sink. | STEP 10: Wash the apple in the sink and then remove it. | STEP 11: Turn around and walk forward and turn to the right to face the trash can. | STEP 12: Place the piece of apple in the trash can. | END