Task: Cut a slice of lettuce then throw away the lettuce in the garbage can

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          1.0            0              90             0
   1  Pan             -2.439         1.088          -0.602         0              0              0              70
   2  ButterKnife     -2.538         0.910          0.931          0              0              0              66
   3  ButterKnife     -0.211         0.910          1.540          0              0              0              38
   4  Spoon           1.380          0.919          -1.212         0              45             0              52
   5  Spoon           -2.379         0.774          0.486          0              90             0              55
   6  Pot             1.691          0.929          -0.335         0              0              0              46
   7  Cup             -2.605         1.535          0.198          0              0              0              61
   8  Plate           -2.538         0.913          0.631          0              0              0              66
   9  Knife           -2.227         0.799          0.857          0              90             0              43
  10  Knife           0.585          0.936          -1.369         0              180            0              48
  11  Bowl            -2.484         1.580          -1.485         0              180            0              65
  12  Bowl            1.735          1.660          -0.479         0              0              0              58
  13  SaltShaker      -2.521         1.533          0.774          0              0              0              62
  14  Bread           -0.341         0.996          1.094          0              0              0              38
  15  Pan             1.412          0.929          -0.335         0              0              0              39
  16  Knife           1.391          0.945          -1.061         0              225            0              52
  17  Apple           1.674          0.972          -0.972         0              45             0              48
  18  Bowl            -2.538         0.908          1.230          0              0              0              66
  19  Fork            -2.372         0.911          0.031          0              0              0              66
  20  Bread           -2.289         0.996          0.631          0              0              0              66
  21  Plate           -0.081         0.913          1.764          0              0              0              38
  22  Egg             1.598          0.941          0.406          0              0              0              47
  23  Kettle          0.854          0.900          -1.790         0              0              0              48
  24  Potato          -0.471         0.947          1.540          0              0              0              38
  25  SaltShaker      -0.081         0.905          1.540          0              0              0              38
  26  Lettuce         -0.081         0.994          0.870          0              0              0              38
  27  Cup             -0.471         0.908          0.870          0              0              0              38
  28  SoapBottle      1.772          1.665          -0.263         0              0              0              58
  29  Spatula         -0.471         0.925          0.423          0              0              0              38
  30  PaperTowelRoll  1.684          1.015          0.465          0              0              0              47
  31  ButterKnife     -0.211         0.910          0.647          0              0              0              38
  32  PepperShaker    0.301          1.658          -1.839         0              90             0              45
  33  DishSponge      0.930          0.910          -1.186         0              45             0              48
  34  Pot             1.691          0.929          0.064          0              0              0              49
  35  Spoon           -2.289         0.912          1.830          0              0              0              66
  36  Tomato          1.512          0.953          0.435          0              0              0              47
  37  Mug             -2.570         0.992          2.380          0              0              0              78
  38  CounterTop      -0.360         0.946          1.093          0              0              0
  39  StoveBurner     1.412          0.923          -0.335         0              0              0
  40  StoveKnob       1.878          1.093          0.018          287.989        90             0
  41  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  42  Cabinet         -2.446         1.948          2.924          0              0              0
  43  Drawer          -2.276         0.792          0.902          0              0              0
  44  Cabinet         -2.145         0.402          1.578          0              0              0
  45  Cabinet         0.149          2.008          -1.603         0              90             0
  46  StoveBurner     1.691          0.923          -0.335         0              0              0
  47  CounterTop      1.585          0.946          0.405          0              0              0
  48  CounterTop      0.474          0.946          -1.625         0              0              0
  49  StoveBurner     1.691          0.923          0.064          0              0              0
  50  Cabinet         -2.446         1.948          1.687          0              0              0
  51  Cabinet         -2.446         1.948          1.640          0              0              0
  52  Sink            1.381          0.810          -1.271         0              225            0
  53  StoveKnob       1.878          1.093          0.150          287.989        90             0
  54  Cabinet         -2.145         0.402          -0.236         0              0              0
  55  Drawer          -2.276         0.792          0.437          0              0              0
  56  Drawer          -2.276         0.792          -0.027         0              0              0
  57  Cabinet         1.572          2.008          0.474          0              0              0
  58  Cabinet         1.572          2.008          -0.775         0              0              0
  59  Cabinet         -2.445         2.148          -1.275         0              0              0
  60  Cabinet         -2.446         2.148          -0.284         0              0              0
  61  Cabinet         -2.446         1.948          0.355          0              0              0
  62  Cabinet         -2.446         1.948          0.405          0              0              0
  63  Cabinet         -2.145         0.402          0.644          0              0              0
  64  Cabinet         -2.145         0.402          0.695          0              0              0
  65  Cabinet         -2.285         1.968          -1.325         0              180            0
  66  CounterTop      -1.485         0.946          1.319          0              0              0
  67  StoveBurner     1.411          0.923          0.064          0              0              0
  68  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  69  Drawer          -2.276         0.792          1.368          0              0              0
  70  Fridge          -2.475         0.0            -0.782         0              90             0
  71  LightSwitch     -0.929         1.350          -1.950         0              0              0
  72  Toaster         -2.564         0.900          1.876          0              90             0
  73  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  74  Window          1.508          1.534          -1.496         90             135            0
  75  Window          1.973          1.521          1.121          90             90             0
  76  SinkBasin       1.149          0.753          -1.380         0              225            0
  77  GarbageCan      1.646          -0.000         0.679          0              0              0
  78  Microwave       -2.580         0.900          2.440          0              90             0
  79  Stool           0.439          0.010          0.747          0              0              0
  80  Stool           -2.303         0.010          1.839          0              0              0
  81  Faucet          1.235          1.138          -1.473         0              225            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: turn right and walk towards the door then turn left and walk straight towards the stove and turn left and walk straight then turn left at the counter | STEP 2: pick up the knife next to the lettuce | STEP 3: slice the lettuce with the knife | STEP 4: turn left and walk towards the dishwasher then turn right and walk straight to the fridge | STEP 5: open the fridge and put the knife inside and close it | STEP 6: turn right and then turn right again and walk straight to the stove then turn left and then straight and then left again at the counter | STEP 7: pick up one slice of lettuce from the counter | STEP 8: turn left and walk straight then turn right towards the fridge | STEP 9: open the fridge and put the lettuce slice on the middle shelf and close the fridge, then open it and take the lettuce out | STEP 10: turn right then turn right again and walk towards the stove then left and straight and then turn right towards the window | STEP 11: put the lettuce slice into the garbage can near the window | END