Task: To put an apple slice 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           -1.5           0.900          2.0            0              0              0
   1  Pan             -0.518         0.829          2.075          0              180            0              49
   2  Potato          -2.877         0.960          1.125          0              0              0              71
   3  Ladle           -2.057         0.169          0.401          0              0              0              64
   4  DishSponge      -2.504         0.823          0.953          0              0              0              52
   5  ButterKnife     -1.374         0.823          0.518          0              0              0              52
   6  ButterKnife     -2.044         0.823          0.518          0              0              0              52
   7  Pot             -0.518         0.829          1.684          0              0              0              53
   8  Fork            -2.664         0.692          1.474          0              90             0              57
   9  Spatula         -2.724         0.838          0.203          0              90             0              52
  10  Egg             -2.375         0.847          0.278          0              0              0              52
  11  Cup             -0.092         0.823          0.992          0              0              0              52
  12  Cup             -2.648         0.121          1.589          0              0              0              63
  13  Plate           -1.465         0.130          0.362          0              0              0              65
  14  Tomato          -2.671         1.495          2.397          0              90             0              70
  15  Tomato          -2.671         1.495          2.221          0              90             0              70
  16  SoapBottle      -2.569         0.119          1.431          0              0              0              63
  17  SoapBottle      -0.295         0.054          2.539          0              0              0              72
  18  SaltShaker      -2.817         1.430          0.325          0              45             0              58
  19  SaltShaker      -2.858         1.430          0.708          0              0              0              61
  20  PepperShaker    -1.943         0.120          0.518          0              180            0              64
  21  Mug             -2.781         1.138          2.045          0              90             0              70
  22  Mug             -2.781         0.819          1.957          0              90             0              70
  23  Apple           -2.810         0.994          1.284          0              90             0              71
  24  Apple           -2.840         0.896          0.203          0              0              0              52
  25  Fork            -0.363         0.697          0.875          0              90             0              54
  26  Ladle           -2.752         1.479          0.260          0              45             0              58
  27  Pan             -0.244         0.829          1.684          0              0              0              51
  28  SoapBottle      -0.295         0.054          2.674          0              0              0              72
  29  Pot             -2.726         0.823          2.221          0              180            0              70
  30  Tomato          -2.375         0.873          0.500          0              0              0              52
  31  Potato          -0.984         0.862          0.500          0              0              0              52
  32  SaltShaker      -2.813         0.818          0.789          0              0              0              52
  33  Plate           -2.782         1.148          2.309          0              90             0              70
  34  Spatula         -0.341         0.696          1.194          0              45             0              48
  35  Knife           -0.246         0.849          1.103          0              0              0              52
  36  Egg             -0.362         0.080          2.572          0              0              0              72
  37  Cup             -2.726         1.445          1.957          0              90             0              70
  38  ButterKnife     -2.581         0.823          0.871          0              0              0              52
  39  Lettuce         -1.836         0.741          0.238          0              55.910         0              79
  40  PepperShaker    -1.542         0.818          0.046          0              0              0              52
  41  DishSponge      -1.105         0.698          0.377          0              0              0              56
  42  Bread           -0.979         0.855          0.249          0              29.999         0              52
  43  Spoon           -0.888         0.712          0.445          0              270            0              55
  44  Mug             -2.579         1.844          1.978          0              0              0              46
  45  Bowl            -2.491         0.820          0.129          0              0              0              52
  46  Cabinet         -2.377         2.015          1.720          0              0              0
  47  StoveBurner     -0.244         0.820          2.075          0              180            0
  48  Drawer          -0.402         0.703          1.252          0              0              0
  49  StoveBurner     -0.518         0.820          2.075          0              180            0
  50  Sink            -1.838         0.726          0.343          0              180            0
  51  StoveBurner     -0.244         0.820          1.684          0              0              0
  52  CounterTop      -1.557         0.859          0.277          0              0              0
  53  StoveBurner     -0.518         0.820          1.684          0              0              0
  54  Drawer          -0.404         0.704          0.912          0              0              0
  55  Drawer          -0.861         0.709          0.420          0              0              0
  56  Drawer          -1.133         0.706          0.418          0              0              0
  57  Drawer          -2.589         0.703          1.511          0              0              0
  58  Cabinet         -2.772         1.803          0.508          0              0              0
  59  Cabinet         -2.460         1.803          0.231          0              0              0
  60  Cabinet         -2.781         1.798          0.825          0              0              0
  61  Cabinet         -2.781         1.798          0.815          0              0              0
  62  Cabinet         -2.377         2.009          2.581          0              0              0
  63  Cabinet         -2.442         0.385          1.672          0              0              0
  64  Cabinet         -2.238         0.385          0.564          0              0              0
  65  Cabinet         -1.286         0.385          0.564          0              0              0
  66  Cabinet         -1.262         0.385          0.565          0              0              0
  67  Cabinet         -0.734         0.385          0.565          0              0              0
  68  Cabinet         -0.549         0.385          0.751          0              0              0
  69  Cabinet         -0.549         0.385          1.412          0              0              0
  70  Fridge          -2.782         0.0            2.221          0              0              0
  71  Microwave       -2.794         0.812          1.348          0              90             0
  72  GarbageCan      -0.329         2.205          2.606          0              0              0
  73  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  74  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  75  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  76  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  77  Window          -1.720         1.342          -0.208         90             0              0
  78  Toaster         -0.171         0.812          0.735          0              270            0
  79  SinkBasin       -1.745         0.687          0.295          0              0              0
  80  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  81  LightSwitch     -0.615         1.378          3.0            0              180            0
  82  Faucet          -1.686         0.954          0.176          0              236.223        0
  83  Stool           -1.008         0.008          1.955          0              18.279         0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn around and walk across the room to face the sink. | STEP 2: Pick up the knife on the sink. | STEP 3: Turn right and step forward to face the fridge. | STEP 4: Cut the apple in the microwave into three pieces. | STEP 5: Place the knife in the microwave. | STEP 6: Pick up the piece of the apple in the microwave. | STEP 7: Take a step to the right to face the fridge. | STEP 8: Place the apple in the top of the fridge. | STEP 9: Turn around and step forward to face the trash can on the floor. | STEP 10: Place the apple piece in the trash can on the floor. | END