Task: Place chilled melon slice in 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           -1.5           0.900          -1.5           0              90             0
   1  Glassbottle     -2.780         0.924          -1.654         0              0              0              78
   2  Pencil          -2.780         0.923          -0.963         0              0              0              78
   3  Pen             -2.324         0.926          -1.654         0              0              0              78
   4  Potato          -0.600         0.947          -3.909         0              0              0              53
   5  Potato          -2.666         0.954          -2.115         0              0              0              78
   6  DishSponge      -0.778         0.746          -3.556         0              0              0              52
   7  DishSponge      -2.780         0.923          -2.115         0              0              0              78
   8  ButterKnife     -2.210         0.923          -1.423         0              0              0              78
   9  WineBottle      -0.162         1.528          -3.230         0              0              0              65
  10  WineBottle      -0.436         0.916          -3.368         0              0              0              53
  11  Pot             -1.515         0.935          -3.497         0              0              0              50
  12  Pot             -1.129         0.935          -3.498         0              0              0              51
  13  Fork            -0.222         0.916          -3.771         0              0              0              53
  14  Spoon           -2.324         0.924          -1.654         0              0              0              78
  15  Spoon           -2.324         0.924          -2.345         0              0              0              78
  16  Knife           -2.552         0.946          -0.963         0              0              0              78
  17  Egg             -0.392         1.423          -0.979         0              270            0              70
  18  Egg             -0.079         0.948          -2.966         0              0              0              53
  19  Tomato          -2.324         0.987          -1.423         0              0              0              78
  20  Tomato          -0.295         1.162          -0.455         0              270            0              70
  21  Bread           -0.343         1.151          -0.665         0              270            0              70
  22  PepperShaker    -2.438         0.919          -0.963         0              0              0              78
  23  Apple           -0.343         1.172          -1.084         0              270            0              70
  24  Lettuce         -2.562         1.002          -1.677         36.385         0              0              78
  25  Glassbottle     -0.447         0.797          -2.155         0              270            0              71
  26  Egg             -2.438         0.956          -1.193         0              0              0              78
  27  Pen             -2.210         0.926          -1.884         0              0              0              78
  28  Fork            -0.350         0.797          -2.082         0              270            0              71
  29  SoapBottle      -2.552         0.922          -2.115         0              0              0              78
  30  Pencil          -0.508         0.747          -3.238         0              90             0              64
  31  WineBottle      -1.943         0.027          -3.763         0              0              0              69
  32  Spatula         -2.096         0.938          -1.654         0              0              0              78
  33  Bread           -0.415         0.952          -3.625         0              0              0              53
  34  Tomato          -2.096         0.987          -2.115         0              0              0              78
  35  Pan             -2.174         0.913          -1.099         0              0              0              78
  36  Cup             -0.388         1.689          -0.665         0              270            0              70
  37  Pot             -0.392         1.390          -0.769         0              270            0              70
  38  SaltShaker      -0.304         0.077          -3.299         0              0              0              59
  39  Potato          -1.309         1.661          -3.903         0              0              0              66
  40  PepperShaker    -0.293         0.912          -3.368         0              0              0              53
  41  ButterKnife     -2.552         0.923          -1.423         0              0              0              78
  42  DishSponge      -0.449         0.746          -3.297         0              0              0              64
  43  Spoon           -2.666         0.924          -1.884         0              0              0              78
  44  Plate           -0.329         1.533          -3.672         0              45             0              61
  45  Knife           -2.552         0.946          -1.193         0              0              0              78
  46  Mug             -1.204         1.625          -3.903         0              0              0              66
  47  Bowl            -0.308         1.689          -0.979         0              270            0              70
  48  Cabinet         -0.582         0.388          -1.804         0              0              0
  49  StoveBurner     -1.515         0.928          -3.752         0              90             0
  50  StoveBurner     -1.515         0.928          -3.497         0              0              0
  51  StoveBurner     -1.129         0.928          -3.498         0              0              0
  52  Drawer          -0.749         0.779          -3.551         0              0              0
  53  CounterTop      -0.303         0.951          -2.793         0              0              0
  54  Cabinet         -0.883         2.140          -3.687         0              0              0
  55  Cabinet         -0.312         2.140          -1.543         0              0              0
  56  Sink            -0.349         0.907          -2.014         0              0              0
  57  Cabinet         -0.877         0.388          -3.422         0              0              0
  58  Cabinet         -0.582         0.388          -2.197         0              0              0
  59  Cabinet         -0.584         0.388          -3.396         0              0              0
  60  Cabinet         -0.312         2.140          -2.481         0              0              0
  61  Cabinet         -0.330         1.921          -3.390         0              0              0
  62  Cabinet         -1.764         2.140          -3.687         0              0              0
  63  StoveBurner     -1.129         0.928          -3.752         0              90             0
  64  Drawer          -0.454         0.779          -3.268         0              0              0
  65  Cabinet         -0.302         1.916          -2.501         0              0              0
  66  Microwave       -1.317         1.517          -3.801         0              1.440          0
  67  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  68  LightSwitch     -4.323         1.319          0.0            0              180            0
  69  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  70  Fridge          -0.330         0.0            -0.769         0              270            0
  71  SinkBasin       -0.350         0.786          -2.018         0              270            0
  72  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  76  Toaster         -0.181         0.903          -2.764         0              270            0
  77  Window          -2.503         1.782          -4.185         90             180            0
  78  DiningTable     -2.432         0.000          -1.694         0              270            0
  79  Shelf           -2.432         0.150          -1.694         0              270            0
  80  Blinds          -2.536         2.699          -3.959         0              0              0
  81  Faucet          -0.079         0.904          -2.034         270            180            0
  82  Chair           -3.264         0.002          -2.094         0              53.280         0
  83  Chair           -3.240         0.002          -1.253         0              117.257        0
  84  Shelf           -2.432         0.523          -1.694         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: turn to the right, facing green table | STEP 2: pick up knife in back, to the right of green melon and behind the apple | STEP 3: go to the left, face green melon | STEP 4: slice green melon with knife | STEP 5: go to cabinet under sink to the left | STEP 6: open left cabinet door under sink, place knife in left cabinet, close cabinet | STEP 7: turn around, face green table | STEP 8: pick up slice of green melon | STEP 9: turn around, go to refrigerator | STEP 10: place melon slice on top shelf of refrigerator, close refrigerator, open refrigerator, remove melon slice from refrigerator | STEP 11: go to trash can to the left of stove | STEP 12: place melon slice in trash can | END