Task: Place a chilled piece of lettuce into the blue recycling bin.

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          0.25           0              180            0
   1  Pan             0.678          0.964          1.082          0              0              0              49
   2  DishSponge      1.896          0.114          1.117          0              0              0              66
   3  ButterKnife     2.754          0.911          1.044          0              0              0              81
   4  Pot             2.488          0.915          1.129          0              0              0              81
   5  Spoon           1.869          0.773          -0.460         0              180            0              60
   6  Spoon           2.868          0.772          1.198          0              0              0              90
   7  Fork            1.107          0.772          1.198          0              270            0              91
   8  Spatula         1.422          0.926          1.383          0              0              0              81
   9  Cup             0.140          1.653          -0.771         0              180            0              86
  10  Egg             -0.694         0.858          -1.155         0              90             0              105
  11  Egg             1.155          0.949          1.468          0              0              0              81
  12  SoapBottle      1.600          0.120          1.081          0              0              0              75
  13  SoapBottle      -0.055         0.917          1.468          0              0              0              57
  14  Tomato          2.754          0.942          1.468          0              0              0              81
  15  Tomato          -0.157         0.797          -0.596         0              0              0              103
  16  SaltShaker      -0.694         0.817          -1.308         0              90             0              105
  17  SaltShaker      1.522          1.651          -0.693         0              180            0              68
  18  PepperShaker    -0.007         0.908          1.044          0              0              0              57
  19  Lettuce         -0.246         0.992          1.383          0              0              0              57
  20  Lettuce         1.955          0.992          1.383          0              0              0              81
  21  Lettuce         -0.103         0.992          1.129          0              90             0              57
  22  Mug             1.798          1.649          -0.849         0              180            0              83
  23  SoapBottle      -0.887         0.826          -1.328         0              0              0              105
  24  Plate           2.211          0.902          -0.462         0              0              0              46
  25  Fork            1.688          0.912          1.129          0              0              0              81
  26  Pot             0.281          0.964          1.082          0              0              0              52
  27  Bread           1.03           0.953          -0.519         0              0              0              46
  28  Egg             2.156          0.949          -0.684         0              0              0              46
  29  Kettle          0.678          0.964          1.345          0              0              0              84
  30  Tomato          0.193          0.797          -0.762         0              0              0              103
  31  Cup             0.888          0.909          -0.6           0              0              0              46
  32  Spatula         -0.621         0.835          -1.308         0              90             0              105
  33  Apple           -0.983         0.889          -1.206         0              90             0              105
  34  Pan             0.231          2.156          1.467          0              0              0              55
  35  Lettuce         2.221          0.992          1.383          0              0              0              81
  36  SaltShaker      1.597          1.651          -0.810         0              180            0              68
  37  Knife           -1.056         0.853          -1.257         0              90             0              105
  38  Potato          0.466          1.819          1.520          0              180            0              104
  39  PepperShaker    1.409          1.651          -0.693         0              180            0              68
  40  ButterKnife     1.422          0.911          1.044          0              0              0              81
  41  Bowl            1.909          0.112          -0.421         0              180            0              92
  42  DishSponge      -0.246         0.911          1.553          0              0              0              57
  43  Spoon           0.263          0.766          -0.707         0              90             0              103
  44  Mug             -0.734         0.815          -1.400         0              0              0              105
  45  Sink            0.050          0.902          -0.648         0              0              0
  46  CounterTop      1.358          0.947          -0.600         0              0              0
  47  Cabinet         2.986          2.009          1.304          0              0              0
  48  Cabinet         1.022          2.009          -0.607         0              180            0
  49  StoveBurner     0.678          0.923          1.082          0              0              0
  50  Cabinet         2.371          0.402          0.995          0              0              0
  51  Drawer          -0.125         0.792          0.995          0              0              0
  52  StoveBurner     0.281          0.923          1.082          0              0              0
  53  Cabinet         1.025          0.402          0.995          0              0              0
  54  Cabinet         1.023          0.402          -0.296         0              180            0
  55  Cabinet         0.974          2.259          1.304          0              0              0
  56  Cabinet         0.979          2.009          -0.607         0              180            0
  57  CounterTop      -0.158         0.947          1.299          0              0              0
  58  Cabinet         1.725          2.009          1.304          0              0              0
  59  Drawer          2.205          0.792          -0.294         0              180            0
  60  Drawer          1.869          0.792          -0.294         0              180            0
  61  StoveBurner     0.281          0.923          1.347          0              0              0
  62  Drawer          2.512          0.792          0.995          0              0              0
  63  Cabinet         1.673          0.402          -0.296         0              180            0
  64  Drawer          1.524          0.792          0.995          0              0              0
  65  Drawer          1.174          0.792          -0.294         0              180            0
  66  Cabinet         1.720          0.402          0.995          0              0              0
  67  Cabinet         2.348          2.009          -0.607         0              180            0
  68  Cabinet         1.676          2.009          -0.607         0              180            0
  69  Cabinet         1.673          2.009          1.304          0              0              0
  70  Cabinet         2.326          2.009          1.304          0              0              0
  71  Cabinet         2.370          2.009          1.304          0              0              0
  72  Cabinet         0.021          2.009          1.304          0              0              0
  73  Cabinet         1.025          2.009          1.304          0              0              0
  74  Cabinet         -0.274         0.402          0.995          0              0              0
  75  Cabinet         1.675          0.402          0.995          0              0              0
  76  Drawer          1.524          0.792          -0.294         0              180            0
  77  Drawer          2.187          0.792          0.995          0              0              0
  78  Cabinet         2.977          0.402          0.995          0              0              0
  79  Drawer          1.862          0.792          0.995          0              0              0
  80  Cabinet         0.072          2.259          1.304          0              0              0
  81  CounterTop      1.917          0.947          1.299          0              0              0
  82  Cabinet         2.328          0.402          0.995          0              0              0
  83  Cabinet         1.723          2.009          -0.607         0              180            0
  84  StoveBurner     0.677          0.923          1.345          0              0              0
  85  Cabinet         0.355          2.009          -0.607         0              180            0
  86  Cabinet         0.332          2.009          -0.607         0              180            0
  87  Cabinet         2.349          0.402          -0.296         0              180            0
  88  Cabinet         -0.284         2.009          -0.607         0              180            0
  89  Faucet          0.061          0.906          -0.903         0              0              0
  90  Drawer          2.837          0.792          0.995          0              0              0
  91  Drawer          1.175          0.792          0.995          0              0              0
  92  Cabinet         1.723          0.402          -0.296         0              180            0
  93  StoveKnob       0.588          1.093          1.557          287.970        0              0
  94  StoveKnob       0.188          1.093          1.557          287.970        0              0
  95  StoveKnob       0.749          1.093          1.557          287.970        0              0
  96  StoveKnob       0.338          1.093          1.557          287.970        0              0
  97  Toaster         1.934          0.900          -0.717         0              0              0
  98  LightSwitch     -1.662         1.427          1.649          0              180            0
  99  GarbageCan      -1.965         -0.029         1.358          0              270            0
 100  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 101  Fridge          3.043          0.0            -0.709         0              0              0
 102  Window          -2.183         1.501          -0.014         90             270            0
 103  SinkBasin       0.043          0.755          -0.651         0              0              0
 104  Microwave       0.531          1.675          1.437          0              180            0
 105  DiningTable     -0.836         8.404          -1.258         0              0              0
 106  Chair           -1.611         0.002          -1.185         0              45             0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter. | STEP 4: Cut up the rightmost lettuce on the counter. | STEP 5: Take one step back and then look at the counter with the lettuce on it. | STEP 6: Place the knife in front of the lettuce on the counter. | STEP 7: Take one step forward to the counter. | STEP 8: Pick up a piece of the lettuce on the counter. | STEP 9: Turn around and walk to the fridge. | STEP 10: Chill the piece of lettuce in the fridge and then pick up the piece of lettuce from the fridge. | STEP 11: Turn right and walk to the blue recycling bin next to the window. | STEP 12: Place the piece of lettuce into the blue recycling bin. | END