Task: Put a sliced lettuce inside the trash can

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          0.75           0              270            0
   1  Potato          1.786          0.115          0.160          0              0              0              65
   2  Potato          -0.283         0.793          -2.071         0              0              0              76
   3  Ladle           1.690          0.164          -1.266         0              270            0              58
   4  Ladle           1.909          1.702          -1.673         0              270            0              54
   5  DishSponge      1.873          0.880          2.456          0              0              0              84
   6  DishSponge      1.359          0.552          2.586          0              0              0              84
   7  WineBottle      1.340          1.660          -2.200         0              0              0              51
   8  WineBottle      1.748          0.121          -1.397         0              270            0              58
   9  Spatula         -0.064         0.779          -2.071         0              90             0              76
  10  Spoon           0.180          0.931          0.762          0              0              0              81
  11  Fork            0.180          0.927          1.448          0              0              0              81
  12  Cup             0.180          0.930          0.991          0              0              0              81
  13  Plate           1.913          1.661          -1.199         0              270            0              55
  14  Knife           0.066          0.953          0.305          0              90             0              81
  15  SoapBottle      1.771          0.879          2.537          0              0              0              85
  16  SoapBottle      -0.047         0.929          1.220          0              0              0              81
  17  Lettuce         -0.047         1.008          0.305          0              0              0              81
  18  SaltShaker      -1.036         0.909          -2.151         0              0              0              64
  19  PepperShaker    0.921          0.909          -1.751         0              0              0              64
  20  PepperShaker    -0.160         0.923          0.762          0              0              0              81
  21  Mug             -0.668         0.908          -2.267         0              0              0              64
  22  Apple           -1.572         1.575          -0.910         0              90             0              72
  23  Potato          -1.438         0.888          -0.806         0              90             0              72
  24  Bowl            -1.284         2.144          -0.983         0              90             0              48
  25  SoapBottle      0.066          0.925          0.076          0              0              0              81
  26  Fork            -0.047         0.927          0.534          0              0              0              81
  27  Ladle           0.503          1.703          -2.162         0              0              0              53
  28  Bread           0.399          0.964          0.111          0              0              1.601          81
  29  Lettuce         0.180          1.011          0.534          0              0              0              81
  30  WineBottle      1.653          1.660          -2.162         0              0              0              51
  31  Spatula         0.294          0.945          1.220          0              0              0              81
  32  Plate           0.481          0.923          1.077          0              0              0              81
  33  SaltShaker      1.566          0.549          2.379          0              0              0              90
  34  Pot             1.845          0.948          -0.355         0              0              0              45
  35  Cup             1.464          0.881          2.483          0              0              0              91
  36  PepperShaker    0.066          0.926          0.991          0              0              0              81
  37  Pan             1.567          0.948          -0.757         0              0              0              46
  38  ButterKnife     -0.791         0.9            -2.186         0              164.999        0              64
  39  Tomato          -1.495         1.235          -0.392         0              90             0              72
  40  DishSponge      0.457          0.913          -1.751         0              0              0              64
  41  Egg             2.001          0.140          0.006          0              0              0              65
  42  Spoon           0.294          0.928          0.534          0              0              0              81
  43  Knife           1.738          0.936          -1.797         0              0              0              64
  44  Mug             1.647          0.908          -1.446         0              0              0              64
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90
  91
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn left, walk straight to the counter | STEP 2: Pick up the knife on top of the counter | STEP 3: Turn left, turn left, walk straight, turn right, walk to the table | STEP 4: Slice the lettuce on the table | STEP 5: Turn right, walk straight, turn left, walk  | STEP 6: Put the knife in the trash can | STEP 7: Turn right, turn right, turn left, turn right, turn right, turn right to the table | STEP 8: Pick up the slice of lettuce | STEP 9: Turn right, walk straight, turn right to the fridge | STEP 10: Open the fridge, put the lettuce inside on the second tray, close the fridge. Open the fridge, take out the lettuce inside on the second tray, close the fridge. | STEP 11: Turn right, turn right, walk straight, turn left, walk straight, turn right to the green trash can | STEP 12: Put the slice inside the trash can | END