Task: put a wet slice of lettuce in 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           -3.0           0.900          2.25           0              180            0
   1  Pan             0.905          1.132          1.444          0              0              0              79
   2  Potato          -0.587         0.811          -0.573         0              90             0              77
   3  CreditCard      0.833          0.150          -0.729         0              270            0              59
   4  ButterKnife     0.859          0.911          -0.208         0              0              0              57
   5  ButterKnife     0.859          0.911          -0.381         0              0              0              57
   6  Fork            0.834          0.495          -0.607         0              270            0              60
   7  Spoon           -1.167         0.934          -0.643         0              0              0              56
   8  Cup             -0.587         0.777          -0.659         0              90             0              77
   9  Plate           -0.772         0.936          -1.231         0              0              0              56
  10  Tomato          0.944          0.952          -0.381         0              0              0              57
  11  Tomato          -0.912         0.219          0.576          0              180            0              76
  12  SoapBottle      1.194          1.666          -0.401         0              270            0              65
  13  SoapBottle      0.688          0.911          -0.381         0              0              0              57
  14  Bowl            1.026          0.866          1.063          0              270            0              79
  15  Bowl            1.126          2.211          -1.517         0              270            0              63
  16  PepperShaker    -1.363         0.550          2.718          0              0              0              82
  17  PepperShaker    0.875          0.491          -0.565         0              270            0              60
  18  Mug             0.903          0.942          -2.110         0              300.131        0              75
  19  Mug             -0.550         0.928          0.315          0              0              0              56
  20  Apple           0.944          0.961          0.139          0              0              0              57
  21  Apple           -0.587         0.830          -0.745         0              90             0              77
  22  Statue          -1.104         0.936          -0.118         0              0              0              56
  23  Glassbottle     0.688          0.912          -0.729         0              0              0              57
  24  Bread           1.029          0.992          -0.034         0              0              0              57
  25  CreditCard      0.773          0.908          -1.879         0              0              0              62
  26  CellPhone       -1.104         0.930          -1.430         0              0              0              56
  27  Potato          1.087          0.893          1.540          0              270            0              79
  28  Knife           -0.624         0.957          -1.231         0              0              0              56
  29  Fork            0.773          0.911          -0.381         0              90             0              57
  30  Pan             0.848          0.946          -1.080         0              0              0              50
  31  Lettuce         1.026          1.212          1.158          0              270            0              79
  32  Plate           1.101          1.669          -2.234         0              270            0              55
  33  Apple           -0.808         0.830          -0.832         0              90             0              77
  34  Pot             1.077          0.950          -1.504         0              0              0              52
  35  Spatula         0.859          0.926          -0.555         0              270            0              57
  36  PaperTowelRoll  -0.624         1.037          -1.540         0              0              0              56
  37  Tomato          0.844          0.903          1.254          0              270            0              79
  38  Egg             -0.846         0.971          -1.463         0              0              0              56
  39  SaltShaker      -0.550         0.929          -1.463         0              0              0              56
  40  PepperShaker    0.874          0.150          -0.611         0              270            0              59
  41  Vase            1.148          1.666          -2.029         0              270            0              55
  42  ButterKnife     -0.846         0.933          0.315          0              0              0              56
  43  SoapBottle      -1.571         0.882          2.692          0              0              0              83
  44  Vase            1.082          2.209          -0.973         0              270            0              63
  45  Bowl            0.773          0.914          -1.879         0              0              0              62
  46  DishSponge      0.861          0.107          -2.052         0              0              0              61
  47  Spoon           1.114          0.912          -0.729         0              270            0              57
  48  Cup             0.966          1.399          1.158          0              270            0              79
  49  Mug             0.844          1.638          0.967          0              270            0              79
  50  StoveBurner     0.842          0.919          -1.098         0              0              0
  51  Cabinet         0.648          0.474          0.244          0              270            0
  52  StoveBurner     1.077          0.919          -1.504         0              0              0
  53  StoveBurner     0.842          0.919          -1.504         0              0              0
  54  Drawer          0.637          0.755          -0.649         0              270            0
  55  Cabinet         0.949          2.159          -2.375         0              270            0
  56  CounterTop      -1.238         0.968          -0.643         0              0              0
  57  CounterTop      0.931          0.946          -0.208         0              0              0
  58  StoveBurner     1.077          0.919          -1.098         0              0              0
  59  Drawer          0.637          0.268          -0.649         0              270            0
  60  Drawer          0.637          0.547          -0.649         0              270            0
  61  Cabinet         0.648          0.475          -1.714         0              0              0
  62  CounterTop      0.931          0.946          -2.051         0              0              0
  63  Cabinet         0.948          2.439          -1.780         0              270            0
  64  Cabinet         0.948          2.159          -0.140         0              270            0
  65  Cabinet         0.949          2.159          -0.758         0              270            0
  66  Sink            -0.699         0.927          -0.649         0              0              0
  67  LightSwitch     -2.371         1.218          3.049          0              180            0
  68  StoveKnob       0.673          0.899          -1.373         315            90             180
  69  StoveKnob       0.673          0.899          -1.519         315            90             180
  70  StoveKnob       0.673          0.899          -1.086         315            90             180
  71  StoveKnob       0.673          0.899          -1.237         315            90             180
  72  Toaster         0.984          0.900          0.329          0              270            0
  73  Window          0.014          0.998          -2.640         90             0              0
  74  Window          -2.996         0.998          -2.640         90             0              0
  75  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  76  GarbageCan      -0.946         -0.036         0.575          0              180            0
  77  SinkBasin       -0.698         0.765          -0.647         0              90             0
  78  Microwave       1.042          1.680          -1.295         0              270            0
  79  Fridge          0.966          0.0            1.253          0              0              0
  80  HousePlant      -1.354         0.919          -1.540         0              0              0
  81  Shelf           -1.635         0.172          2.715          0              180            0
  82  Shelf           -1.635         0.552          2.715          0              180            0
  83  Shelf           -1.635         0.880          2.715          0              180            0
  84  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  85  Chair           -1.832         0.002          -0.034         0              119.999        0
  86  Chair           -1.854         0.002          -0.956         0              67.887         0
  87  Faucet          -0.867         1.161          -0.651         0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: go forward to the left go right turn left towards the sink | STEP 2: pick up the knife from the counter | STEP 3: turn to the left towards the refrigerator  | STEP 4: put the knife inside the refrigerator | STEP 5: get it back turn to the right  | STEP 6: towards the refrigerator put the knife inside the refrigerator  | STEP 7: open the refrigerator back again slice the lettuce that is inside the refrigerator | STEP 8: pick up the slice of lettuce | STEP 9: get it out turn to the right and forward towards the sink | STEP 10: put the slice of lettuce inside the sink rinse it off  | STEP 11: turn to the right go left towards the trash can | STEP 12: throw the slice of lettuce in the trash can | END