Task: Put a piece of cooked apple in the kitchen garbage.

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          2.75           0              270            0
   1  Potato          0.725          0.866          1.072          0              0              0              50
   2  ButterKnife     -0.921         0.900          1.555          0              180            0              91
   3  ButterKnife     -0.921         0.891          1.349          0              90             0              91
   4  Spatula         -0.524         0.915          1.349          0              90             0              91
   5  Spatula         1.099          0.838          2.458          0              270            0              55
   6  Spoon           1.024          0.824          2.285          0              90             0              55
   7  Spoon           -1.309         0.698          3.774          0              0              0              85
   8  Fork            -1.317         0.901          1.349          0              90             0              91
   9  Fork            0.737          0.692          2.163          0              90             0              44
  10  Egg             -1.694         1.395          3.868          0              180            0              79
  11  Plate           0.743          0.129          2.533          0              0              0              57
  12  SoapBottle      0.931          0.023          2.889          0              0              0              84
  13  Tomato          -1.317         0.969          1.555          0              90             0              91
  14  Tomato          -2.577         1.259          2.389          0              90             0              82
  15  Bowl            -2.580         1.847          1.526          0              0              0              68
  16  Bowl            -0.657         0.898          1.246          0              270            0              91
  17  PepperShaker    -0.524         0.896          1.143          0              90             0              91
  18  Mug             -2.752         0.990          2.389          0              90             0              82
  19  Apple           -1.317         0.961          1.246          0              90             0              91
  20  Apple           -2.752         1.056          2.165          0              90             0              82
  21  Apple           -1.185         0.961          1.555          0              90             0              91
  22  Plate           -2.541         1.637          3.025          0              0              0              69
  23  Fork            1.099          0.823          0.984          0              90             0              50
  24  Bread           0.827          0.861          2.449          0              0              0              50
  25  Spatula         0.712          0.848          2.134          0              200.845        0              55
  26  PaperTowelRoll  -2.563         0.927          3.405          0              0              0              73
  27  Potato          -2.461         1.234          2.165          0              90             0              82
  28  SoapBottle      -2.478         0.157          1.521          0              0              0              58
  29  Egg             0.725          0.859          2.285          0              0              0              55
  30  Cup             -2.136         1.398          3.818          0              0              0              51
  31  Pot             0.642          0.850          1.768          0              0              0              77
  32  SaltShaker      -2.744         0.819          3.947          0              0              0              73
  33  Pan             -2.667         0.812          3.74           0              137.145        0              73
  34  PepperShaker    1.024          0.819          1.072          0              0              0              50
  35  ButterKnife     -2.172         0.812          3.552          0              0              0              73
  36  Tomato          -0.906         0.962          1.502          13.531         0              354.578        91
  37  DishSponge      -2.136         1.398          3.976          0              0              0              51
  38  Lettuce         -1.317         0.976          1.040          0              90             0              91
  39  Spoon           0.875          0.824          0.984          0              0              0              50
  40  Apple           0.950          0.884          2.631          0              0              0              55
  41  Knife           -1.117         0.846          3.902          0              270            0              73
  42  Mug             -2.743         1.403          2.221          0              90             0              82
  43  Bowl            0.704          0.124          2.159          0              0              0              65
  44  Drawer          0.729          0.703          2.199          0              0              0
  45  Cabinet         -1.962         1.926          3.733          0              0              0
  46  Cabinet         -2.377         2.014          1.058          0              0              0
  47  Drawer          0.729          0.703          2.532          0              0              0
  48  Cabinet         -2.622         1.925          3.733          0              0              0
  49  StoveBurner     0.913          0.843          1.375          0              0              0
  50  CounterTop      0.864          0.858          0.984          0              0              0
  51  Cabinet         -1.976         1.779          3.734          0              0              0
  52  Cabinet         0.580          0.385          0.819          0              0              0
  53  Cabinet         -2.379         1.408          1.677          0              0              0
  54  Cabinet         -0.419         1.703          3.736          0              0              0
  55  CounterTop      0.864          0.858          2.371          0              0              0
  56  Sink            -1.702         0.726          3.828          0              180            0
  57  Cabinet         0.580          0.385          2.694          0              0              0
  58  Cabinet         -2.379         0.637          1.677          0              0              0
  59  Cabinet         -0.419         0.674          3.736          0              0              0
  60  Cabinet         -2.377         2.014          2.558          0              0              0
  61  Drawer          0.729          0.703          0.980          0              0              0
  62  Drawer          -2.114         0.706          3.657          0              0              0
  63  Cabinet         -2.377         1.691          2.572          0              0              0
  64  Cabinet         -2.951         1.925          3.733          0              0              0
  65  Cabinet         0.580          0.385          2.360          0              0              0
  66  Cabinet         -2.426         0.435          3.421          0              0              0
  67  StoveBurner     0.642          0.843          1.375          0              0              0
  68  Cabinet         -2.377         1.927          1.686          0              0              0
  69  Cabinet         -2.377         2.013          3.177          0              0              0
  70  Cabinet         -1.136         0.385          3.516          0              0              0
  71  StoveBurner     0.913          0.843          1.768          0              0              0
  72  Cabinet         -1.974         0.385          3.516          0              0              0
  73  CounterTop      -2.081         0.858          3.799          0              0              0
  74  Cabinet         -2.426         0.435          3.174          0              0              0
  75  Cabinet         -2.377         2.014          1.693          0              0              0
  76  Cabinet         -1.986         0.385          3.511          0              0              0
  77  StoveBurner     0.642          0.843          1.768          0              0              0
  78  Cabinet         -1.098         1.926          3.729          0              0              0
  79  Microwave       -1.529         1.250          3.881          1.622          180            0
  80  CoffeeMachine   1.000          0.812          2.492          0              270            0
  81  LightSwitch     0.825          1.396          4.082          0              180            0
  82  Fridge          -2.642         0.0            2.134          0              180            0
  83  Window          -1.131         1.673          0.808          90             0              0
  84  GarbageCan      0.931          -0.000         2.918          0              0              0
  85  SinkBasin       -1.601         0.686          3.774          0              0              0
  86  StoveKnob       1.104          1.002          1.886          0              0              70.346
  87  StoveKnob       1.104          1.002          1.733          0              0              70.346
  88  StoveKnob       1.104          1.002          1.321          0              0              70.346
  89  StoveKnob       1.104          1.002          1.481          0              0              70.346
  90  Toaster         -2.247         0.812          3.862          0              180            0
  91  DiningTable     -0.917         -0.000         1.203          0              0              0
  92  Stool           -0.932         0.000          1.404          1.196          21.715         0
  93  Faucet          -1.842         0.809          3.984          0              180            0
  94  Faucet          -1.371         0.809          3.985          0              180            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Walk forward until you hit a wall then turn right and walk a step until you are facing the toaster. | STEP 2: Pick up the knife on the edge of the counter. | STEP 3: Turn around and walk a step then turn left and walk until you are in front of the counter next to the garbage so you are facing it. | STEP 4: Cut the apple to the top left into three pieces. | STEP 5: Position yourself slightly to the right of where you are now facing the same direction. | STEP 6: Place the knife on top of the loaf of bread so it's leaning on it. | STEP 7: Move into the same spot you were in on step 3. | STEP 8: Pick up the bottom right piece of the apple. | STEP 9: Turn around and walk to the sink so you are facing it. | STEP 10: Cook the piece of apple in the microwave then take it back out and close the door. | STEP 11: Move back near where you got the apple on step 3 but slightly to the left so you are facing the garbage. | STEP 12: Put the piece of apple in the garbage. | END