Task: Put a clean apple slice in the garbage bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.900          1.5            0              0              0
   1  Potato          -1.288         0.962          0.359          0              0              0              74
   2  Potato          -3.266         0.758          2.849          0              90             0              69
   3  Ladle           -0.785         1.087          3.042          0              0              0              52
   4  Ladle           -0.715         1.164          0.206          0              0              0              64
   5  DishSponge      -2.088         0.901          0.612          0              0              0              60
   6  DishSponge      -1.483         0.048          0.608          0              0              0              67
   7  ButterKnife     -0.538         1.048          2.144          0              0              0              52
   8  ButterKnife     -1.288         0.931          0.498          0              0              0              74
   9  Fork            -0.715         1.125          0.387          0              0              0              64
  10  Spoon           -2.370         0.903          0.612          0              270            0              61
  11  Spoon           -1.288         0.932          0.290          0              0              0              74
  12  Spatula         -3.778         1.139          0.095          0              90             0              59
  13  Egg             -1.473         1.184          0.108          0              0              0              49
  14  Cup             -0.939         1.122          0.478          0              0              0              64
  15  Plate           -1.522         0.047          0.438          0              0              0              67
  16  Bowl            -2.262         1.122          0.567          0              0              0              62
  17  Bowl            -1.195         0.047          0.551          0              0              0              56
  18  SaltShaker      -0.908         1.043          2.144          0              0              0              52
  19  SaltShaker      -2.592         0.091          0.613          0              0              0              55
  20  PepperShaker    -1.601         0.045          0.665          0              0              0              67
  21  PepperShaker    -0.785         1.043          2.817          0              0              0              52
  22  Bread           -3.373         1.647          2.991          0              90             0              69
  23  Lettuce         -3.373         1.364          3.132          0              90             0              69
  24  Mug             -0.377         1.095          3.194          0              270            0              68
  25  Fork            -0.662         1.047          2.593          0              0              0              52
  26  SoapBottle      -0.168         1.048          2.593          0              0              0              52
  27  Pot             -2.514         1.129          0.284          0              0              0              62
  28  Ladle           -0.538         1.086          2.369          0              0              0              52
  29  Potato          -3.572         1.317          3.132          0              90             0              69
  30  Plate           -3.506         1.285          2.849          0              90             0              69
  31  Bread           -0.908         1.133          1.920          0              0              0              52
  32  Lettuce         -0.662         1.124          3.042          0              0              0              52
  33  Spatula         -0.538         1.063          1.920          0              0              0              52
  34  Pan             -3.475         1.133          0.48           0              90             0              50
  35  Egg             -3.849         0.142          1.978          0              0              0              73
  36  Cup             -2.639         1.122          0.662          0              0              0              62
  37  SaltShaker      -2.648         0.898          0.544          0              0              0              61
  38  Knife           -1.553         0.963          0.567          0              270            0              74
  39  Bowl            -0.538         1.044          2.817          0              90             0              52
  40  PepperShaker    -3.923         1.121          0.284          0              0              0              59
  41  ButterKnife     -2.388         1.124          0.473          0              0              0              62
  42  Apple           -0.415         1.114          2.593          0              0              0              52
  43  Tomato          -3.639         0.952          3.132          0              90             0              69
  44  DishSponge      -3.644         0.112          1.978          0              0              0              73
  45  Spoon           -2.416         0.904          0.544          0              90             0              61
  46  Mug             -1.235         0.044          0.381          0              0              0              56
  47  StoveKnob       -3.322         1.053          0.709          45             0              0
  48  StoveBurner     -3.474         1.097          0.227          0              180            0
  49  Sink            -1.394         0.982          0.439          0              0              0
  50  StoveBurner     -3.474         1.097          0.479          0              180            0
  51  StoveKnob       -3.164         1.053          0.709          45             0              0
  52  DiningTable     -0.620         0.017          2.486          0              0              0
  53  Drawer          -2.043         0.608          0.594          0              0              0
  54  Drawer          -2.043         0.216          0.594          0              0              0
  55  Drawer          -2.498         0.216          0.594          0              0              0
  56  Cabinet         -1.001         0.393          0.734          0              0              0
  57  StoveBurner     -3.000         1.097          0.480          0              0              0
  58  StoveKnob       -3.492         1.053          0.709          45             0              0
  59  CounterTop      -3.856         1.160          0.379          0              0              0
  60  Drawer          -2.043         0.937          0.599          0              0              0
  61  Drawer          -2.509         0.937          0.599          0              0              0
  62  CounterTop      -2.280         1.160          0.379          0              0              0
  63  StoveKnob       -2.985         1.053          0.709          45             0              0
  64  CounterTop      -0.514         1.160          0.492          0              0              0
  65  Drawer          -2.498         0.608          0.594          0              0              0
  66  StoveBurner     -3.000         1.097          0.227          0              0              0
  67  Cabinet         -1.733         0.393          0.734          0              0              0
  68  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  69  Fridge          -3.519         0.0            2.717          0              90             0
  70  Window          -1.394         1.924          0.014          90             0              0
  71  Window          -3.266         1.924          0.014          90             0              0
  72  Toaster         -0.225         1.038          2.865          0              270            0
  73  GarbageCan      -3.696         0.002          2.008          0              0              0
  74  SinkBasin       -1.389         0.921          0.428          0              0              0
  75  Microwave       -0.366         1.113          0.430          0              0              0
  76  HousePlant      -2.155         1.101          0.169          0              332.897        0
  77  LightSwitch     -2.584         1.299          3.5            0              180            0
  78  Faucet          -1.393         1.373          0.168          0              270            0
  79  NorthWall
  80  SouthWall
  81  SouthWall

Plan:
STEP 1: Turn to your right and go to the table on the left side of the kitchen, across the room.  | STEP 2: Pick up the butter knife, between the spoon and the spatula, on the table.  | STEP 3: Move over to the left side of the table.  | STEP 4: Cut the apple to the right of the toaster, on the table, into slices.  | STEP 5: Turn to your right and go to the right cabinet under the sink.  | STEP 6: Place the knife in the front of the right cabinet, under the sink.  | STEP 7: Turn to your left and go back to the table.  | STEP 8: Pick up one of the apple slices.  | STEP 9: Turn to your right and go to the sink.  | STEP 10: Place the apple slice in the back, right corner of the sink, turn the water on, rinse off the apple slice, turn the water off, and remove the apple slice from the sink.  | STEP 11: Turn to your right and go across the room to the garbage bin on the floor, to the left of the refrigerator.  | STEP 12: Place the apple slice in the garbage bin.  | END