Task: put a knife and cooked apple slice into 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          2.5            0              180            0
   1  Potato          0.256          0.784          -1.380         0              0              0              92
   2  Potato          1.956          1.030          -0.756         0              270            0              89
   3  CellPhone       1.764          0.577          0.599          0              0              0              72
   4  Ladle           1.802          0.955          -1.610         0              0              0              68
   5  Ladle           -1.050         0.955          -1.221         0              0              0              68
   6  Kettle          -1.237         1.680          -1.652         0              0              0              70
   7  Spatula         2.025          0.926          -0.053         0              90             0              68
   8  Spatula         1.900          0.926          1.408          0              270            0              68
   9  Egg             -1.902         0.968          -0.964         0              0              0              68
  10  Egg             0.256          0.817          -1.490         0              0              0              92
  11  Cup             -0.002         0.758          -1.380         0              0              0              92
  12  Cup             -1.750         1.467          0.201          0              90             0              91
  13  Plate           0.000          0.924          1.202          0              0              0              76
  14  Knife           0.107          0.947          0.506          0              90             0              76
  15  SoapBottle      -0.106         0.929          -0.190         0              0              0              76
  16  Tomato          -1.697         1.731          -0.175         0              90             0              91
  17  Bowl            0.000          0.924          0.041          0              0              0              76
  18  Bowl            -1.803         1.467          -0.175         0              90             0              91
  19  SaltShaker      -1.814         0.907          -0.914         0              0              0              68
  20  Lettuce         0.321          1.002          0.273          0              0              0              76
  21  Apple           -1.721         0.616          -0.081         0              90             0              91
  22  Apple           -0.320         0.978          0.273          0              0              0              76
  23  SoapBottle      -1.639         0.915          -0.914         0              0              0              68
  24  Cup             1.885          1.657          -1.204         0              270            0              56
  25  Pot             1.975          0.938          0.819          0              180            0              78
  26  Fork            -0.106         0.926          0.041          0              0              0              76
  27  Ladle           1.769          0.164          0.745          0              270            0              60
  28  Kettle          1.765          0.938          0.601          0              180            0              50
  29  Egg             -1.721         0.620          0.107          0              90             0              91
  30  Plate           -1.151         0.112          -1.423         0              0              0              80
  31  Pan             -1.286         0.9            -1.348         0              79.769         0              68
  32  Lettuce         -1.710         0.883          -0.137         0              304.909        0              91
  33  Spatula         -1.668         0.926          -1.415         0              0              0              68
  34  Apple           -1.663         0.616          -0.269         0              90             0              91
  35  Knife           0.214          0.947          0.738          0              0              0              76
  36  SaltShaker      -0.699         0.667          -1.240         0              0              0              59
  37  PepperShaker    2.001          1.655          -1.280         0              270            0              56
  38  CellPhone       1.559          0.909          -0.210         0              0              0              68
  39  ButterKnife     0.107          0.925          0.970          0              0              0              76
  40  Bread           -0.320         1.006          0.506          0              0              0              76
  41  Tomato          2.073          0.966          1.258          0              0              0              68
  42  Potato          -1.796         0.066          1.371          0              270            0              82
  43  DishSponge      -0.320         0.925          0.738          0              0              0              76
  44  Spoon           1.764          0.350          -0.157         0              0              0              64
  45  Mug             1.355          0.955          -1.362         0              0              0              90
  46  Bowl            0.000          0.924          0.738          0              0              0              76
  47  Cabinet         -0.495         0.474          -1.149         0              0              0
  48  Window          -0.010         1.582          -1.821         0              0              0
  49  Drawer          0.805          0.475          -1.159         0              0              0
  50  StoveBurner     1.764          0.902          0.601          0              270            0
  51  Drawer          1.5            0.196          -0.019         0              0              0
  52  Drawer          1.5            0.629          -0.018         0              0              0
  53  Drawer          1.5            0.602          -0.019         0              270            0
  54  StoveBurner     1.975          0.902          0.384          0              270            0
  55  Cabinet         -1.703         2.022          -1.453         0              90             0
  56  Cabinet         1.789          2.019          -0.819         0              270            0
  57  Cabinet         0.494          0.474          -1.149         0              0              0
  58  Cabinet         0.409          0.475          0.444          0              0              0
  59  Drawer          -0.696         0.475          -1.159         0              0              0
  60  Drawer          1.5            0.140          0.599          0              270            0
  61  Cabinet         1.389          0.474          -1.149         0              0              0
  62  Drawer          1.5            0.305          0.600          0              0              0
  63  StoveBurner     1.975          0.902          0.601          0              270            0
  64  Drawer          1.5            0.429          -0.019         0              0              0
  65  StoveBurner     1.764          0.902          0.819          0              270            0
  66  Drawer          1.5            0.519          1.220          0              0              0
  67  Cabinet         1.705          2.019          -1.449         0              0              0
  68  CounterTop      0.002          0.947          -1.513         0              0              0
  69  Drawer          1.5            0.629          0.605          0              0              0
  70  Cabinet         -0.627         2.019          -1.449         0              0              0
  71  StoveBurner     1.764          0.902          0.384          0              270            0
  72  Drawer          1.5            0.538          0.600          0              0              0
  73  Sink            0.0            0.893          -1.434         0              0              0
  74  Drawer          1.5            0.782          1.220          0              270            0
  75  Window          2.217          1.565          -0.384         0              0              0
  76  CounterTop      -0.014         0.961          0.505          0              0              0
  77  Drawer          1.5            0.200          1.220          0              0              0
  78  StoveBurner     1.975          0.902          0.819          0              270            0
  79  Window          -3.240         1.616          2.693          0              270            0
  80  Cabinet         -1.389         0.474          -1.149         0              0              0
  81  LightSwitch     -0.153         1.291          3.700          0              180            0
  82  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  83  StoveKnob       1.602          0.917          0.570          0              270            180
  84  StoveKnob       1.602          0.917          0.625          0              270            180
  85  StoveKnob       1.602          0.917          0.739          0              270            180
  86  StoveKnob       1.602          0.917          0.680          0              270            180
  87  StoveKnob       1.602          0.917          0.462          0              270            180
  88  StoveKnob       1.602          0.917          0.517          0              270            180
  89  Microwave       1.932          0.899          -0.766         0              270            0
  90  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  91  Fridge          -1.764         0.0            0.014          0              90             0
  92  SinkBasin       -0.014         0.736          -1.435         0              0              0
  93  Toaster         1.977          0.900          -0.336         0              270            0
  94  Faucet          -0.020         1.137          -1.605         0              270            0
  95  Chair           -9.354         0.000          1.242          0              180            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: turn left moving forward and turn right at the counter stopping at the right end of the counter where the knives are sitting | STEP 2: turn to face the counter and pick up the silver knife to the left of the plate | STEP 3: turn right and then turn left at the end of the counter, go around to the other side of the counter, stopping at the center and turn left to face the green apple | STEP 4: move forward to be in front of the apple | STEP 5: slice the apple with the knife, turn around and move to the trash can on the left | STEP 6: put the knife in to the trash can | STEP 7: turn to the left and move back to face the counter with the apple slice | STEP 8: pick up the small slice of apple | STEP 9: turn right, move to the end of the counter and turn left moving towards the microwave and the counter next to the toaster | STEP 10: open the microwave door, put the apple in to the microwave in front of the egg, close the door and cook the apple for a few seconds, open the door and remove the apple slice | STEP 11: turn around and move forward to the end of the center kitchen island and turn right at the end of that counter, move forward passed the fridge stopping to face the grey trash can on the left | STEP 12: put the apple slice in to the trash can | END