Task: slice a lettuce put it in the refrigerator into 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           -4.25          0.900          -3.0           0              90             0
   1  Glassbottle     -2.666         0.924          -1.654         0              0              0              82
   2  Pencil          -2.438         0.923          -2.345         0              0              0              82
   3  Pencil          -2.438         0.923          -1.884         0              0              0              82
   4  Potato          -1.943         0.058          -3.690         0              0              0              73
   5  Potato          -0.246         1.130          -0.455         0              270            0              74
   6  DishSponge      -2.096         0.923          -1.884         0              0              0              82
   7  DishSponge      -0.716         0.081          -3.623         0              0              0              61
   8  ButterKnife     -0.365         0.915          -2.563         0              90             0              57
   9  ButterKnife     -2.666         0.923          -1.423         0              0              0              82
  10  WineBottle      -2.552         0.924          -1.654         0              0              0              82
  11  WineBottle      -2.552         0.924          -0.963         0              0              0              82
  12  Pot             -1.515         0.935          -3.497         0              0              0              54
  13  Spatula         -2.438         0.938          -1.193         0              0              0              82
  14  Spatula         -2.210         0.938          -1.654         0              90             0              82
  15  Knife           -0.671         0.938          -3.839         0              90             0              57
  16  Plate           -0.421         0.083          -3.267         0              0              0              63
  17  Plate           -2.780         0.925          -1.423         0              0              0              82
  18  Cup             -2.438         0.922          -1.654         0              0              0              82
  19  Cup             -2.552         0.922          -1.423         0              0              0              82
  20  Tomato          -2.552         0.987          -2.115         0              0              0              82
  21  SaltShaker      -2.438         0.919          -1.423         0              0              0              82
  22  PepperShaker    -0.778         0.742          -3.527         0              0              0              56
  23  PepperShaker    -0.422         0.077          -1.849         0              0              0              62
  24  Mug             -1.257         1.625          -3.804         0              0              0              70
  25  Mug             -0.295         1.385          -0.560         0              270            0              74
  26  Apple           -0.228         1.764          -0.770         0              270            0              74
  27  Apple           -0.268         1.764          -0.979         0              270            0              74
  28  Lettuce         -2.780         1.016          -2.115         0              0              0              82
  29  Glassbottle     -2.210         0.924          -2.115         0              0              0              82
  30  Egg             -1.151         1.663          -3.804         0              0              0              70
  31  Pen             -2.324         0.926          -1.884         0              0              0              82
  32  Fork            -0.295         0.788          -1.858         0              0              0              75
  33  SoapBottle      -0.211         1.526          -3.125         0              0              0              69
  34  Pencil          -2.324         0.923          -1.654         0              0              0              82
  35  WineBottle      -1.975         0.027          -3.799         0              0              0              73
  36  Spatula         -0.600         0.930          -3.768         0              90             0              57
  37  Bread           -0.415         0.952          -3.625         0              0              0              57
  38  Tomato          -0.246         1.162          -0.874         0              270            0              74
  39  Pan             -2.174         0.913          -1.099         0              0              0              82
  40  Cup             -0.460         0.080          -2.155         0              0              0              62
  41  Pot             -1.129         0.935          -3.498         0              0              0              55
  42  SaltShaker      -0.478         0.743          -3.327         0              0              0              68
  43  Potato          -0.348         1.722          -1.084         0              270            0              74
  44  PepperShaker    -0.743         0.912          -3.768         0              0              0              57
  45  ButterKnife     -2.324         0.923          -0.963         0              90             0              82
  46  DishSponge      -2.780         0.923          -1.884         0              0              0              82
  47  Spoon           -0.328         0.786          -2.125         0              33.895         0              75
  48  Plate           -2.552         0.925          -1.884         0              0              0              82
  49  Knife           -2.666         0.946          -2.345         0              90             0              82
  50  Mug             -2.780         0.918          -1.654         0              0              0              82
  51  Bowl            -0.295         1.389          -0.770         0              270            0              74
  52  Cabinet         -0.582         0.388          -1.804         0              0              0
  53  StoveBurner     -1.515         0.928          -3.752         0              90             0
  54  StoveBurner     -1.515         0.928          -3.497         0              0              0
  55  StoveBurner     -1.129         0.928          -3.498         0              0              0
  56  Drawer          -0.749         0.779          -3.551         0              0              0
  57  CounterTop      -0.303         0.951          -2.793         0              0              0
  58  Cabinet         -0.883         2.140          -3.687         0              0              0
  59  Cabinet         -0.312         2.140          -1.543         0              0              0
  60  Sink            -0.349         0.907          -2.014         0              0              0
  61  Cabinet         -0.877         0.388          -3.422         0              0              0
  62  Cabinet         -0.582         0.388          -2.197         0              0              0
  63  Cabinet         -0.584         0.388          -3.396         0              0              0
  64  Cabinet         -0.312         2.140          -2.481         0              0              0
  65  Cabinet         -0.330         1.921          -3.390         0              0              0
  66  Cabinet         -1.764         2.140          -3.687         0              0              0
  67  StoveBurner     -1.129         0.928          -3.752         0              90             0
  68  Drawer          -0.454         0.779          -3.268         0              0              0
  69  Cabinet         -0.302         1.916          -2.501         0              0              0
  70  Microwave       -1.317         1.517          -3.801         0              1.440          0
  71  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  72  LightSwitch     -4.323         1.319          0.0            0              180            0
  73  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  74  Fridge          -0.330         0.0            -0.769         0              270            0
  75  SinkBasin       -0.350         0.786          -2.018         0              270            0
  76  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  77  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  78  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  79  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  80  Toaster         -0.181         0.903          -2.764         0              270            0
  81  Window          -2.503         1.782          -4.185         90             180            0
  82  DiningTable     -2.432         0.000          -1.694         0              270            0
  83  Shelf           -2.432         0.150          -1.694         0              270            0
  84  Blinds          -2.536         2.699          -3.959         0              0              0
  85  Faucet          -0.079         0.904          -2.034         270            180            0
  86  Chair           -3.264         0.002          -2.094         0              53.280         0
  87  Chair           -3.240         0.002          -1.253         0              117.257        0
  88  Shelf           -2.432         0.523          -1.694         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: turn to the left turn to the right  | STEP 2: pick up the knife from the counter | STEP 3: turn to the left go to the left and face the counter | STEP 4: slice the lettuce on the counter | STEP 5: turn to the right go to the left  | STEP 6: open the refrigerator door put the knife inside the refrigerator close the door | STEP 7: turn to the right go again right | STEP 8: pick up a slice of lettuce | STEP 9: turn to the right go to the left open the refrigerator  | STEP 10: put the slice of lettuce inside the refrigerator get it back out | STEP 11: turn to the right and the right again across the room | STEP 12: face the trash can throw the slice of lettuce inside the trash can | END