Task: Put the cooked apple piece in the trash bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          0.25           0              0              0
   1  Vase            0.773          0.912          -0.034         0              0              0              60
   2  Potato          -0.865         0.209          0.510          0              180            0              79
   3  CreditCard      -1.985         0.551          2.822          0              0              0              85
   4  CellPhone       -1.104         0.930          -1.430         0              0              0              59
   5  CellPhone       -0.920         0.930          0.009          0              0              0              59
   6  ButterKnife     0.859          0.911          -0.729         0              90             0              60
   7  ButterKnife     -0.697         0.780          -0.832         0              90             0              80
   8  Fork            -0.624         0.934          0.009          0              180            0              59
   9  Fork            -0.753         0.781          -0.745         0              180            0              80
  10  Cup             0.861          0.105          -2.212         0              0              0              64
  11  Plate           1.114          0.914          -0.381         0              0              0              60
  12  Plate           0.844          0.866          1.444          0              270            0              82
  13  Tomato          1.026          1.175          1.254          0              270            0              82
  14  SoapBottle      0.688          0.911          -0.381         0              0              0              60
  15  Bowl            1.147          1.669          0.153          0              270            0              67
  16  Bowl            -1.292         0.936          0.144          0              0              0              59
  17  PepperShaker    -1.674         0.878          2.719          0              0              0              86
  18  Lettuce         0.905          0.940          1.158          0              270            0              82
  19  Lettuce         1.029          0.988          0.139          0              0              0              60
  20  Bread           0.859          0.992          -0.381         0              0              0              60
  21  Mug             1.055          1.661          -2.029         0              270            0              58
  22  Apple           0.844          1.185          1.349          0              270            0              82
  23  Apple           -1.041         0.983          -0.905         0              0              0              59
  24  Apple           -0.808         0.830          -0.573         0              90             0              80
  25  Statue          -0.624         0.936          -1.231         0              0              0              59
  26  Glassbottle     -0.697         0.781          -0.573         0              90             0              80
  27  Bread           -0.846         1.014          -1.463         0              0              0              59
  28  CreditCard      -1.367         0.878          2.773          0              0              0              86
  29  CellPhone       -1.292         0.930          -0.905         0              0              0              59
  30  Potato          0.966          1.165          1.063          0              270            0              82
  31  Knife           0.868          0.700          -0.600         90             315            0              57
  32  Fork            0.875          0.495          -0.648         0              0              0              63
  33  Pan             0.966          1.399          1.254          0              0              0              82
  34  Lettuce         0.688          0.988          -0.729         0              0              0              60
  35  Plate           -0.550         0.936          0.239          0              0              0              59
  36  Apple           -1.007         0.227          0.576          0              180            0              79
  37  Pot             1.077          0.950          -1.504         0              0              0              55
  38  Spatula         0.859          0.926          -1.879         0              0              0              65
  39  PaperTowelRoll  -1.101         0.281          0.608          0              180            0              79
  40  Tomato          1.026          1.175          1.540          0              270            0              82
  41  Egg             -0.587         0.814          -0.573         0              90             0              80
  42  SaltShaker      0.956          0.699          -0.607         0              270            0              57
  43  PepperShaker    1.029          0.907          -1.879         0              0              0              65
  44  Vase            0.760          0.120          0.374          0              270            0              54
  45  ButterKnife     -0.772         0.933          0.162          0              0              0              59
  46  SoapBottle      1.194          1.666          -2.234         0              270            0              58
  47  Vase            -1.229         0.934          -0.118         0              0              0              59
  48  Bowl            1.026          1.646          1.063          0              270            0              82
  49  DishSponge      -0.865         0.178          0.608          0              180            0              79
  50  Spoon           -0.698         0.777          -0.486         0              90             0              80
  51  Cup             0.905          1.132          1.540          0              270            0              82
  52  Mug             0.783          1.396          1.540          0              270            0              82
  53  StoveBurner     0.842          0.919          -1.098         0              0              0
  54  Cabinet         0.648          0.474          0.244          0              270            0
  55  StoveBurner     1.077          0.919          -1.504         0              0              0
  56  StoveBurner     0.842          0.919          -1.504         0              0              0
  57  Drawer          0.637          0.755          -0.649         0              270            0
  58  Cabinet         0.949          2.159          -2.375         0              270            0
  59  CounterTop      -1.238         0.968          -0.643         0              0              0
  60  CounterTop      0.931          0.946          -0.208         0              0              0
  61  StoveBurner     1.077          0.919          -1.098         0              0              0
  62  Drawer          0.637          0.268          -0.649         0              270            0
  63  Drawer          0.637          0.547          -0.649         0              270            0
  64  Cabinet         0.648          0.475          -1.714         0              0              0
  65  CounterTop      0.931          0.946          -2.051         0              0              0
  66  Cabinet         0.948          2.439          -1.780         0              270            0
  67  Cabinet         0.948          2.159          -0.140         0              270            0
  68  Cabinet         0.949          2.159          -0.758         0              270            0
  69  Sink            -0.699         0.927          -0.649         0              0              0
  70  LightSwitch     -2.371         1.218          3.049          0              180            0
  71  StoveKnob       0.673          0.899          -1.373         315            90             180
  72  StoveKnob       0.673          0.899          -1.519         315            90             180
  73  StoveKnob       0.673          0.899          -1.086         315            90             180
  74  StoveKnob       0.673          0.899          -1.237         315            90             180
  75  Toaster         0.984          0.900          0.329          0              270            0
  76  Window          0.014          0.998          -2.640         90             0              0
  77  Window          -2.996         0.998          -2.640         90             0              0
  78  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  79  GarbageCan      -0.946         -0.036         0.575          0              180            0
  80  SinkBasin       -0.698         0.765          -0.647         0              90             0
  81  Microwave       1.042          1.680          -1.295         0              270            0
  82  Fridge          0.966          0.0            1.253          0              0              0
  83  HousePlant      -1.354         0.919          -1.540         0              0              0
  84  Shelf           -1.635         0.172          2.715          0              180            0
  85  Shelf           -1.635         0.552          2.715          0              180            0
  86  Shelf           -1.635         0.880          2.715          0              180            0
  87  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  88  Chair           -1.832         0.002          -0.034         0              119.999        0
  89  Chair           -1.854         0.002          -0.956         0              67.887         0
  90  Faucet          -0.867         1.161          -0.651         0              0              0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn right and walk toward the fridge, then turn right into the kitchen and approach the sink | STEP 2: Pick up the butter knife from the sink | STEP 3: Turn right and walk around the end of the counter to the black trash bin | STEP 4: Cut the green apple in the bin with the knife | STEP 5: Put the knife in the trash bin | STEP 6: Pick up an apple piece from the trash bin | STEP 7: Turn left and walk back into the kitchen then turn left to face the microwave above the oven | STEP 8: Heat the apple piece in the microwave then remove it | STEP 9: Turn left and walk back around to the trash bin | STEP 10: Put the apple piece in the trash bin | END