Task: Putting a sliced apple 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          -1.0           0              0              0
   1  ButterKnife     1.426          0.911          0.465          0              0              0              47
   2  Fork            0.048          0.911          0.423          0              0              0              38
   3  Spoon           -2.287         0.774          1.417          0              90             0              69
   4  Spatula         -2.289         0.925          1.830          0              90             0              66
   5  Pot             1.411          0.929          0.064          0              0              0              67
   6  Egg             -2.704         0.941          0.031          0              0              0              66
   7  Egg             1.326          0.949          -1.266         0              225            0              52
   8  Cup             -2.605         1.535          0.052          0              0              0              61
   9  Knife           -2.318         0.799          1.322          0              90             0              69
  10  SoapBottle      -2.605         1.539          2.550          0              0              0              42
  11  PepperShaker    1.341          0.906          0.465          0              0              0              47
  12  SaltShaker      -2.599         1.533          2.129          0              0              0              50
  13  Lettuce         -0.081         0.994          0.423          0              0              0              38
  14  Bread           -0.341         0.996          1.317          0              0              0              38
  15  Pan             1.412          0.929          -0.335         0              0              0              39
  16  Knife           -2.257         0.798          1.417          0              270            0              69
  17  Apple           1.684          0.972          0.376          0              0              0              47
  18  Bowl            0.048          0.908          0.870          0              0              0              38
  19  Fork            1.599          0.911          -0.726         0              0              0              48
  20  Bread           -2.455         0.996          0.931          0              0              0              66
  21  Plate           -2.289         0.913          1.530          0              0              0              66
  22  Egg             -2.485         1.331          -0.979         0              90             0              70
  23  Kettle          0.854          0.900          -1.790         0              0              0              48
  24  Potato          1.450          0.954          -1.282         0              225            0              52
  25  SaltShaker      1.855          0.906          0.406          0              0              0              47
  26  Lettuce         -2.455         0.994          1.230          0              0              0              66
  27  Cup             1.808          1.661          -0.550         0              0              0              58
  28  SoapBottle      1.687          0.187          0.651          0              0              0              77
  29  Spatula         -0.471         0.925          1.094          0              90             0              38
  30  PaperTowelRoll  0.585          1.015          -1.369         0              0              0              48
  31  ButterKnife     1.488          0.918          -1.104         0              225            0              52
  32  PepperShaker    -2.496         1.928          -1.034         0              270            0              59
  33  DishSponge      0.868          0.910          -1.580         0              45             0              48
  34  Pot             1.691          0.929          -0.335         0              0              0              46
  35  Spoon           1.434          0.923          -1.158         0              45             0              52
  36  Tomato          -2.532         1.342          -0.885         0              90             0              70
  37  Mug             0.464          0.955          -1.593         0              0              0              48
  38  CounterTop      -0.360         0.946          1.093          0              0              0
  39  StoveBurner     1.412          0.923          -0.335         0              0              0
  40  StoveKnob       1.878          1.093          0.018          287.989        90             0
  41  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  42  Cabinet         -2.446         1.948          2.924          0              0              0
  43  Drawer          -2.276         0.792          0.902          0              0              0
  44  Cabinet         -2.145         0.402          1.578          0              0              0
  45  Cabinet         0.149          2.008          -1.603         0              90             0
  46  StoveBurner     1.691          0.923          -0.335         0              0              0
  47  CounterTop      1.585          0.946          0.405          0              0              0
  48  CounterTop      0.474          0.946          -1.625         0              0              0
  49  StoveBurner     1.691          0.923          0.064          0              0              0
  50  Cabinet         -2.446         1.948          1.687          0              0              0
  51  Cabinet         -2.446         1.948          1.640          0              0              0
  52  Sink            1.381          0.810          -1.271         0              225            0
  53  StoveKnob       1.878          1.093          0.150          287.989        90             0
  54  Cabinet         -2.145         0.402          -0.236         0              0              0
  55  Drawer          -2.276         0.792          0.437          0              0              0
  56  Drawer          -2.276         0.792          -0.027         0              0              0
  57  Cabinet         1.572          2.008          0.474          0              0              0
  58  Cabinet         1.572          2.008          -0.775         0              0              0
  59  Cabinet         -2.445         2.148          -1.275         0              0              0
  60  Cabinet         -2.446         2.148          -0.284         0              0              0
  61  Cabinet         -2.446         1.948          0.355          0              0              0
  62  Cabinet         -2.446         1.948          0.405          0              0              0
  63  Cabinet         -2.145         0.402          0.644          0              0              0
  64  Cabinet         -2.145         0.402          0.695          0              0              0
  65  Cabinet         -2.285         1.968          -1.325         0              180            0
  66  CounterTop      -1.485         0.946          1.319          0              0              0
  67  StoveBurner     1.411          0.923          0.064          0              0              0
  68  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  69  Drawer          -2.276         0.792          1.368          0              0              0
  70  Fridge          -2.475         0.0            -0.782         0              90             0
  71  LightSwitch     -0.929         1.350          -1.950         0              0              0
  72  Toaster         -2.564         0.900          1.876          0              90             0
  73  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  74  Window          1.508          1.534          -1.496         90             135            0
  75  Window          1.973          1.521          1.121          90             90             0
  76  SinkBasin       1.149          0.753          -1.380         0              225            0
  77  GarbageCan      1.646          -0.000         0.679          0              0              0
  78  Microwave       -2.580         0.900          2.440          0              90             0
  79  Stool           0.439          0.010          0.747          0              0              0
  80  Stool           -2.303         0.010          1.839          0              0              0
  81  Faucet          1.235          1.138          -1.473         0              225            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Head to the left of the oven | STEP 2: Grab the knife off of the counter | STEP 3: Look up at the counter | STEP 4: Cut the apple on the counter into three slices | STEP 5: Put the knife down on the counter | STEP 6: Grab one of the slices of apple | STEP 7: Turn right and go to the sink | STEP 8: Wash the apple in the sink and then take it out | STEP 9: Turn around and go to the trash can | STEP 10: Put the apple in the trash can | END