Task: put a piece of washed sliced Apple into the trash

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 and walk to the  table  | STEP 2: pick up the knife that is on the table   | STEP 3: slice the Apple that is on the  table | STEP 4:  turn and walk to the sink  | STEP 5:  put the knife   in the cabinet  under the sink  | STEP 6:  put the knife in the  cabinet under the sink  | STEP 7: walk back to the table  | STEP 8:  pick up a slice of apple  | STEP 9:  walk to the sink  | STEP 10:  put the Apple into the sink turn on the water turn off the water take the Apple out of the sink | STEP 11: walk to the trash can | STEP 12: put the Apple into the trash can  | END