Task: put a cooked slice of apple in to 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           -1.25          0.900          3.25           0              270            0
   1  DishSponge      0.702          0.691          2.496          0              0              0              38
   2  ButterKnife     -2.851         0.823          3.479          0              0              0              64
   3  Spoon           0.737          0.692          0.944          0              0              0              52
   4  Egg             -1.909         0.733          3.774          0              0              0              76
   5  Egg             -2.678         1.643          2.389          0              90             0              73
   6  Tomato          -1.317         0.969          1.349          0              90             0              82
   7  PepperShaker    -2.127         0.819          3.575          0              0              0              64
   8  SaltShaker      -2.431         1.038          1.597          0              0              0              44
   9  Lettuce         -2.636         0.843          2.221          0              90             0              73
  10  Mug             -2.694         0.990          2.333          0              90             0              73
  11  Apple           0.650          0.884          0.984          0              0              0              41
  12  Apple           1.024          0.884          2.371          0              0              0              46
  13  Plate           -1.717         0.131          3.675          0              0              0              63
  14  Fork            -0.789         0.901          1.349          0              90             0              82
  15  Bread           0.827          0.861          2.449          0              0              0              41
  16  Spatula         -0.789         0.915          1.452          0              0              0              82
  17  PaperTowelRoll  0.950          0.927          2.198          0              0              0              46
  18  Potato          -0.524         0.943          1.555          0              90             0              82
  19  SoapBottle      -0.524         0.900          0.937          0              90             0              82
  20  Egg             1.099          0.859          0.850          0              0              0              41
  21  Cup             -0.657         0.900          1.555          0              90             0              82
  22  Pot             0.642          0.850          1.375          0              0              0              58
  23  SaltShaker      0.650          0.819          2.285          0              0              0              46
  24  Pan             -2.667         0.812          3.74           0              137.145        0              64
  25  PepperShaker    -1.307         1.679          3.936          0              0              0              69
  26  ButterKnife     -2.172         0.812          3.552          0              0              0              64
  27  Tomato          -1.317         0.969          1.143          0              90             0              82
  28  DishSponge      0.703          0.692          2.163          0              0              0              35
  29  Lettuce         -0.580         0.956          1.358          31.822         0              0              82
  30  Spoon           -1.317         0.901          1.040          0              0              0              82
  31  Apple           -0.524         0.961          1.143          0              90             0              82
  32  Knife           -0.789         0.923          1.246          0              180            0              82
  33  Mug             -1.109         0.940          1.203          0              0              0              82
  34  Bowl            -2.581         1.847          1.904          0              0              0              66
  35  Drawer          0.729          0.703          2.199          0              0              0
  36  Cabinet         -1.962         1.926          3.733          0              0              0
  37  Cabinet         -2.377         2.014          1.058          0              0              0
  38  Drawer          0.729          0.703          2.532          0              0              0
  39  Cabinet         -2.622         1.925          3.733          0              0              0
  40  StoveBurner     0.913          0.843          1.375          0              0              0
  41  CounterTop      0.864          0.858          0.984          0              0              0
  42  Cabinet         -1.976         1.779          3.734          0              0              0
  43  Cabinet         0.580          0.385          0.819          0              0              0
  44  Cabinet         -2.379         1.408          1.677          0              0              0
  45  Cabinet         -0.419         1.703          3.736          0              0              0
  46  CounterTop      0.864          0.858          2.371          0              0              0
  47  Sink            -1.702         0.726          3.828          0              180            0
  48  Cabinet         0.580          0.385          2.694          0              0              0
  49  Cabinet         -2.379         0.637          1.677          0              0              0
  50  Cabinet         -0.419         0.674          3.736          0              0              0
  51  Cabinet         -2.377         2.014          2.558          0              0              0
  52  Drawer          0.729          0.703          0.980          0              0              0
  53  Drawer          -2.114         0.706          3.657          0              0              0
  54  Cabinet         -2.377         1.691          2.572          0              0              0
  55  Cabinet         -2.951         1.925          3.733          0              0              0
  56  Cabinet         0.580          0.385          2.360          0              0              0
  57  Cabinet         -2.426         0.435          3.421          0              0              0
  58  StoveBurner     0.642          0.843          1.375          0              0              0
  59  Cabinet         -2.377         1.927          1.686          0              0              0
  60  Cabinet         -2.377         2.013          3.177          0              0              0
  61  Cabinet         -1.136         0.385          3.516          0              0              0
  62  StoveBurner     0.913          0.843          1.768          0              0              0
  63  Cabinet         -1.974         0.385          3.516          0              0              0
  64  CounterTop      -2.081         0.858          3.799          0              0              0
  65  Cabinet         -2.426         0.435          3.174          0              0              0
  66  Cabinet         -2.377         2.014          1.693          0              0              0
  67  Cabinet         -1.986         0.385          3.511          0              0              0
  68  StoveBurner     0.642          0.843          1.768          0              0              0
  69  Cabinet         -1.098         1.926          3.729          0              0              0
  70  Microwave       -1.529         1.250          3.881          1.622          180            0
  71  CoffeeMachine   1.000          0.812          2.492          0              270            0
  72  LightSwitch     0.825          1.396          4.082          0              180            0
  73  Fridge          -2.642         0.0            2.134          0              180            0
  74  Window          -1.131         1.673          0.808          90             0              0
  75  GarbageCan      0.931          -0.000         2.918          0              0              0
  76  SinkBasin       -1.601         0.686          3.774          0              0              0
  77  StoveKnob       1.104          1.002          1.886          0              0              70.346
  78  StoveKnob       1.104          1.002          1.733          0              0              70.346
  79  StoveKnob       1.104          1.002          1.321          0              0              70.346
  80  StoveKnob       1.104          1.002          1.481          0              0              70.346
  81  Toaster         -2.247         0.812          3.862          0              180            0
  82  DiningTable     -0.917         -0.000         1.203          0              0              0
  83  Stool           -0.932         0.000          1.404          1.196          21.715         0
  84  Faucet          -1.842         0.809          3.984          0              180            0
  85  Faucet          -1.371         0.809          3.985          0              180            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: turn to the left and move across the room, turn right in front of the silver trash can and move towards the white table, turn right to face left side of table | STEP 2: pick up the sharp knife with the yellow handle | STEP 3: turn right, move passed the stove to the counter to the left of the stove and turn to face the counter | STEP 4: slice the apple that is to the left of the paper towel roll | STEP 5: stay in front of the counter | STEP 6: put the knife in front of the pan that is in front of the apple | STEP 7: stay in front of the counter | STEP 8: pick up a piece of the sliced apple | STEP 9: turn around and move towards the refrigerator, make a right at the fridge moving towards the microwave that is above the sink | STEP 10: open the microwave door, put the apple slice into the microwave, close the door, cook for two seconds, open the door and remove the apple slice and close the door | STEP 11: turn to the right and move forward with the apple slice towards the silver trash can that is to the left of the counter | STEP 12: put the apple slice into the trash can | END