Task: put a chilled slice of lettuce in to 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           -2.75          0.900          1.0            0              180            0
   1  Potato          -0.587         0.807          -0.659         0              90             0              78
   2  Potato          1.199          0.941          -0.729         0              0              0              58
   3  CellPhone       -1.041         0.930          0.144          0              0              0              57
   4  CellPhone       -1.467         0.550          2.667          0              0              0              83
   5  DishSponge      0.688          0.910          -1.793         0              0              0              63
   6  Fork            -0.772         0.934          0.239          0              0              0              57
   7  Spoon           0.834          0.704          -0.648         0              270            0              55
   8  Spoon           0.793          0.154          -0.611         0              270            0              60
   9  Knife           -0.550         0.957          -0.143         0              0              0              57
  10  Cup             0.905          1.399          1.254          0              270            0              80
  11  Plate           0.905          0.866          1.063          0              270            0              80
  12  Plate           1.102          1.669          -0.593         0              270            0              66
  13  Tomato          0.944          0.952          -1.793         0              0              0              63
  14  Tomato          -0.846         0.974          -1.618         0              0              0              57
  15  SaltShaker      1.194          1.662          -1.893         0              270            0              56
  16  PepperShaker    0.794          0.699          -0.565         0              270            0              55
  17  Lettuce         1.114          0.988          0.139          0              0              0              58
  18  Bread           0.944          0.992          -0.381         0              0              0              58
  19  Bread           1.026          1.216          1.349          0              270            0              80
  20  Mug             1.194          1.661          -2.097         0              270            0              56
  21  Mug             0.903          0.942          -2.110         0              300.131        0              76
  22  Apple           -0.920         0.983          -1.308         0              0              0              57
  23  Statue          -1.816         0.871          2.754          0              180            0              57
  24  Glassbottle     1.082          2.208          -0.973         0              270            0              64
  25  Bread           -0.624         1.014          -1.308         0              0              0              57
  26  CreditCard      0.688          0.908          0.313          0              0              0              58
  27  CellPhone       -1.571         0.878          2.719          0              0              0              84
  28  Potato          0.995          1.825          -1.132         0              270            0              79
  29  Knife           1.029          0.934          -0.381         0              180            0              58
  30  Fork            0.859          0.911          -0.729         0              0              0              58
  31  Pan             0.842          0.950          -1.098         0              0              0              51
  32  Lettuce         0.859          0.988          0.139          0              0              0              58
  33  Plate           -0.753         0.783          -0.659         0              90             0              78
  34  Apple           -0.960         0.229          0.543          0              180            0              77
  35  Pot             1.077          0.950          -1.504         0              0              0              53
  36  Spatula         -0.587         0.795          -0.400         0              0              0              78
  37  PaperTowelRoll  -1.985         0.658          2.615          0              0              0              83
  38  Tomato          1.026          1.175          1.540          0              270            0              80
  39  Egg             1.087          1.439          1.063          0              270            0              80
  40  SaltShaker      0.760          0.117          0.325          0              270            0              58
  41  PepperShaker    0.688          0.907          -2.308         0              0              0              63
  42  Vase            -0.550         0.933          0.162          0              0              0              57
  43  ButterKnife     1.029          0.911          -0.034         0              0              0              58
  44  SoapBottle      0.688          0.911          -0.555         0              0              0              58
  45  Vase            -1.985         0.555          2.822          0              0              0              83
  46  Bowl            1.193          1.669          0.280          0              270            0              65
  47  DishSponge      0.688          0.910          -1.965         0              0              0              63
  48  Spoon           -1.229         0.934          -0.118         0              0              0              57
  49  Cup             1.026          1.399          1.444          0              270            0              80
  50  Mug             1.026          1.396          1.349          0              270            0              80
  51  StoveBurner     0.842          0.919          -1.098         0              0              0
  52  Cabinet         0.648          0.474          0.244          0              270            0
  53  StoveBurner     1.077          0.919          -1.504         0              0              0
  54  StoveBurner     0.842          0.919          -1.504         0              0              0
  55  Drawer          0.637          0.755          -0.649         0              270            0
  56  Cabinet         0.949          2.159          -2.375         0              270            0
  57  CounterTop      -1.238         0.968          -0.643         0              0              0
  58  CounterTop      0.931          0.946          -0.208         0              0              0
  59  StoveBurner     1.077          0.919          -1.098         0              0              0
  60  Drawer          0.637          0.268          -0.649         0              270            0
  61  Drawer          0.637          0.547          -0.649         0              270            0
  62  Cabinet         0.648          0.475          -1.714         0              0              0
  63  CounterTop      0.931          0.946          -2.051         0              0              0
  64  Cabinet         0.948          2.439          -1.780         0              270            0
  65  Cabinet         0.948          2.159          -0.140         0              270            0
  66  Cabinet         0.949          2.159          -0.758         0              270            0
  67  Sink            -0.699         0.927          -0.649         0              0              0
  68  LightSwitch     -2.371         1.218          3.049          0              180            0
  69  StoveKnob       0.673          0.899          -1.373         315            90             180
  70  StoveKnob       0.673          0.899          -1.519         315            90             180
  71  StoveKnob       0.673          0.899          -1.086         315            90             180
  72  StoveKnob       0.673          0.899          -1.237         315            90             180
  73  Toaster         0.984          0.900          0.329          0              270            0
  74  Window          0.014          0.998          -2.640         90             0              0
  75  Window          -2.996         0.998          -2.640         90             0              0
  76  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  77  GarbageCan      -0.946         -0.036         0.575          0              180            0
  78  SinkBasin       -0.698         0.765          -0.647         0              90             0
  79  Microwave       1.042          1.680          -1.295         0              270            0
  80  Fridge          0.966          0.0            1.253          0              0              0
  81  HousePlant      -1.354         0.919          -1.540         0              0              0
  82  Shelf           -1.635         0.172          2.715          0              180            0
  83  Shelf           -1.635         0.552          2.715          0              180            0
  84  Shelf           -1.635         0.880          2.715          0              180            0
  85  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  86  Chair           -1.832         0.002          -0.034         0              119.999        0
  87  Chair           -1.854         0.002          -0.956         0              67.887         0
  88  Faucet          -0.867         1.161          -0.651         0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: turn to the left and move forward to the fridge and turn right, move to the counter that is to the right of the fridge and turn left to face the counter | STEP 2: pick up the butter knife that is sitting on the counter to the right of two heads of lettuce | STEP 3: move slightly to the left facing the two heads of lettuce | STEP 4: use the knife to cut the head of lettuce in the front | STEP 5: move to the right of the counter slightly | STEP 6: put the knife on to the counter to the right of the heads of lettuce | STEP 7: move back to the left slightly to face both heads of lettuce | STEP 8: pick up a slice of the cut lettuce from the counter | STEP 9: move to the left to face the fridge | STEP 10: open the door of the fridge, put the lettuce slice on the top shelf, close the door to chill for a few seconds, open the door, remove the slice and close the door | STEP 11: turn around and move forward to the black trash can at the end of the counter of the left,  turn to face the trash can | STEP 12: put the slice of lettuce in to the trash can | END