Task: place a microwaved apple slice inside of the garbage bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -0.25          0              0              0
   1  Kettle          1.361          0.962          0.561          0              270            0              60
   2  Kettle          -0.082         0.913          -1.820         0              0              0              55
   3  Pan             -2.31          1.051          -1.763         0              270            0              85
   4  Pan             1.608          1.328          -1.809         0              270            0              71
   5  Potato          1.907          0.942          0.209          0              0              0              70
   6  DishSponge      -2.203         0.951          0.435          0              90             0              88
   7  ButterKnife     0.701          0.919          -1.649         0              270            0              53
   8  Fork            -2.614         0.952          0.255          0              90             0              88
   9  Fork            1.903          0.912          -1.820         0              0              0              55
  10  Spoon           1.785          0.913          0.458          0              0              0              70
  11  Spatula         0.300          0.927          0.209          0              0              0              54
  12  Cup             -2.340         0.950          0.255          0              90             0              88
  13  Cup             -1.872         0.509          -1.720         0              0              0              85
  14  Knife           0.167          0.937          0.375          0              0              0              54
  15  SoapBottle      0.856          0.918          -1.449         0              270            0              53
  16  Bowl            -1.791         0.951          0.524          0              90             0              88
  17  SaltShaker      -2.614         0.948          0.435          0              90             0              88
  18  PepperShaker    0.564          0.908          0.292          0              0              0              54
  19  PepperShaker    1.724          0.908          0.209          0              0              0              70
  20  Bread           -2.065         1.035          0.165          0              90             0              88
  21  Lettuce         -1.791         1.042          0.255          0              90             0              88
  22  Mug             0.753          0.914          -1.715         0              90             0              53
  23  Mug             0.618          0.945          0.469          0              180            0              79
  24  Apple           -0.329         0.137          0.439          0              90             0              84
  25  Apple           -2.047         1.559          -1.849         0              0              0              85
  26  Bread           1.781          0.995          -1.571         0              0              0              55
  27  Knife           0.167          0.937          0.623          0              0              0              54
  28  Fork            -1.928         0.952          0.435          0              270            0              88
  29  Bowl            1.535          0.911          -1.737         0              0              0              55
  30  Kettle          -0.644         1.329          -1.809         0              180            0              49
  31  Cup             -2.397         1.491          -1.806         0              0              0              85
  32  Tomato          -2.135         0.829          -1.720         0              0              0              85
  33  SoapBottle      -0.451         0.910          -1.903         0              0              0              55
  34  Plate           1.289          0.913          -1.737         0              0              0              55
  35  Pot             1.007          0.962          0.561          0              270            0              57
  36  Spatula         0.908          0.934          -1.649         0              90             0              53
  37  PaperTowelRoll  1.907          1.016          0.623          0              0              0              70
  38  Egg             -0.394         0.105          0.525          0              90             0              84
  39  Lettuce         -2.065         1.042          0.614          0              90             0              88
  40  SaltShaker      1.663          0.908          0.623          0              0              0              70
  41  PepperShaker    0.035          0.908          0.292          0              0              0              54
  42  Apple           -1.959         0.847          -1.806         0              0              0              85
  43  ButterKnife     0.960          0.919          -1.582         0              270            0              53
  44  Potato          -1.791         0.982          0.704          0              90             0              88
  45  Pan             1.022          0.959          0.288          0              219.190        0              67
  46  DishSponge      -2.614         0.951          0.614          0              90             0              88
  47  Spoon           0.071          0.774          0.306          0              0              0              61
  48  Mug             -0.872         1.010          -1.737         0              0              0              77
  49  Cabinet         -0.193         1.688          -1.648         0              180            0
  50  StoveBurner     1.360          0.957          0.293          0              180            0
  51  Drawer          0.499          0.792          0.296          0              0              0
  52  Cabinet         0.095          0.400          -1.352         0              180            0
  53  Sink            0.711          0.817          -1.772         0              270            0
  54  CounterTop      0.280          0.947          0.458          0              0              0
  55  CounterTop      -0.680         0.947          -1.654         0              0              0
  56  Drawer          1.825          0.792          0.296          0              0              0
  57  StoveBurner     1.007          0.957          0.561          0              270            0
  58  Drawer          -0.150         0.792          -1.496         0              0              0
  59  Drawer          -0.586         0.792          -1.496         0              0              0
  60  StoveBurner     1.360          0.957          0.561          0              270            0
  61  Drawer          0.024          0.792          0.296          0              0              0
  62  Cabinet         1.079          0.400          -1.349         0              180            0
  63  Cabinet         1.669          0.402          0.151          0              0              0
  64  Cabinet         0.055          0.402          -1.351         0              0              0
  65  Cabinet         -0.180         0.402          0.151          0              0              0
  66  Cabinet         0.729          0.402          0.151          0              0              0
  67  StoveBurner     1.007          0.957          0.293          0              180            0
  68  Drawer          -1.100         0.792          -1.496         0              0              0
  69  Cabinet         -0.396         0.402          -1.351         0              0              0
  70  CounterTop      1.776          0.947          0.458          0              0              0
  71  Cabinet         1.974          1.688          -1.648         0              180            0
  72  Cabinet         -0.820         0.400          -1.349         0              180            0
  73  Toaster         0.305          0.900          0.552          0              180            0
  74  LightSwitch     -2.756         1.307          -0.987         0              90             0
  75  Window          0.582          1.613          -1.967         90             0              0
  76  Window          1.969          1.5            -0.615         90             270            0
  77  Microwave       -1.037         0.900          -1.723         0              0              0
  78  SinkBasin       0.377          0.765          -1.655         0              270            0
  79  CoffeeMachine   0.618          0.900          0.600          0              180            0
  80  StoveKnob       1.246          0.913          0.118          45             180            0
  81  StoveKnob       1.373          0.913          0.118          45             180            0
  82  StoveKnob       0.995          0.913          0.118          45             180            0
  83  StoveKnob       1.126          0.913          0.118          45             180            0
  84  GarbageCan      -0.368         -0.029         0.539          0              90             0
  85  Fridge          -2.134         0.0            -1.690         0              0              0
  86  Faucet          0.549          1.046          -1.833         0              232.527        0
  87  Stool           -1.475         0.000          0.414          1.233          280.375        0
  88  DiningTable     -2.255         -0.004         0.432          0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: move to the right a little bit and face the kitchen counter again | STEP 2: grab the knife off of the kitchen counter | STEP 3: turn left and walk over to the garbage bin on the right | STEP 4: slice up the apple inside of the garbage bin | STEP 5: place the knife inside of the garbage bin | STEP 6: pick up an apple slice from inside of the garbage bin | STEP 7: turn around and walk left to the end of the room where the microwave is | STEP 8: place the apple slice inside of the microwave, microwave the apple slice, and then take it back out | STEP 9: turn around and walk back over to the garbage bin at the end of the room | STEP 10: place the apple slice inside of the garbage bin | END