Task: Put a knife and clean lettuce in a garbage 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          2.0            0              270            0
   1  DishSponge      -0.552         0.143          0.353          0              0              0              61
   2  ButterKnife     0.771          0.992          0.670          0              0              0              53
   3  ButterKnife     -0.346         0.760          6.323          0              90             0              89
   4  Spatula         -0.332         0.775          6.217          0              45             0              89
   5  Spatula         0.668          0.787          0.619          0              270            0              45
   6  Fork            0.871          0.772          0.395          0              90             0              45
   7  Fork            -0.096         0.760          6.632          0              90             0              89
   8  Egg             1.135          1.042          4.853          0              0              0              54
   9  Egg             1.403          1.042          3.324          0              0              0              53
  10  Cup             2.137          1.511          5.376          0              270            0              75
  11  Cup             -0.535         0.988          0.486          0              0              0              53
  12  SoapBottle      1.404          2.207          4.131          0              0              0              41
  13  SoapBottle      -0.384         0.992          0.303          0              0              0              53
  14  Bowl            -0.074         1.578          0.295          0              0              0              66
  15  SaltShaker      1.314          0.987          0.440          0              0              0              53
  16  SaltShaker      0.847          0.987          0.670          0              0              0              53
  17  Lettuce         -0.687         1.081          0.212          0              0              0              53
  18  Bowl            2.094          1.514          6.001          0              270            0              75
  19  Bread           1.099          1.048          0.434          0              0              0              53
  20  Egg             -0.034         0.810          6.632          0              0              0              89
  21  Knife           0.167          0.789          6.151          0              135            0              89
  22  Fork            -0.384         0.993          0.578          0              0              0              53
  23  Apple           0.696          1.067          0.486          0              0              0              53
  24  Kettle          1.317          0.988          4.294          0              0              0              48
  25  Plate           1.322          0.141          2.646          0              0              0              65
  26  SaltShaker      -0.443         0.755          6.851          0              135            0              89
  27  Lettuce         0.150          0.848          6.541          0              270            0              89
  28  SoapBottle      -0.159         0.760          6.941          0              0              0              89
  29  Spatula         -0.459         1.007          0.212          0              0              0              53
  30  PaperTowelRoll  1.135          1.096          4.624          0              0              0              54
  31  Pot             1.559          0.988          4.294          0              0              0              51
  32  Potato          0.064          1.132          0.245          0              0              0              69
  33  ButterKnife     0.104          0.760          6.653          0              225            0              89
  34  PepperShaker    1.540          2.202          4.306          0              0              0              57
  35  Pan             1.562          0.988          3.848          0              0              0              47
  36  Tomato          1.497          0.940          2.085          0              90             0              76
  37  DishSponge      0.035          0.759          6.019          0              135            0              89
  38  Cup             -0.312         0.756          6.666          0              270            0              89
  39  Spoon           0.771          0.993          0.395          0              90             0              53
  40  Mug             0.273          1.092          0.245          0              0              0              69
  41  Cabinet         1.307          2.455          4.360          0              0              0
  42  Cabinet         1.054          0.422          1.710          0              0              0
  43  Drawer          1.280          0.808          4.718          0              0              0
  44  Cabinet         1.307          2.455          3.607          0              0              0
  45  Drawer          0.736          0.802          0.521          0              0              0
  46  Drawer          1.276          0.802          3.291          0              0              0
  47  StoveBurner     1.562          0.982          3.848          0              0              0
  48  StoveBurner     1.317          0.982          4.294          0              0              0
  49  Drawer          -0.482         0.802          0.521          0              0              0
  50  Drawer          0.124          0.802          0.521          0              0              0
  51  StoveBurner     1.559          0.982          4.294          0              0              0
  52  StoveBurner     1.320          0.982          3.848          0              0              0
  53  CounterTop      1.391          1.028          0.897          0              0              0
  54  CounterTop      1.391          1.028          4.716          0              0              0
  55  Cabinet         1.054          0.422          4.548          0              0              0
  56  Cabinet         1.317          2.134          0.517          0              0              0
  57  Cabinet         1.317          2.134          4.889          0              0              0
  58  Cabinet         1.317          2.134          3.095          0              0              0
  59  Cabinet         0.443          0.422          0.743          0              0              0
  60  Cabinet         1.270          2.134          0.434          0              0              0
  61  Cabinet         -0.775         0.422          0.743          0              0              0
  62  Cabinet         -0.168         0.422          0.743          0              0              0
  63  Cabinet         1.317          2.134          1.534          0              0              0
  64  Cabinet         1.054          0.422          2.990          0              0              0
  65  Cabinet         1.054          0.422          2.944          0              0              0
  66  Cabinet         -0.263         2.134          0.434          0              0              0
  67  Cabinet         0.252          2.134          0.434          0              0              0
  68  Sink            1.391          1.006          2.326          0              0              0
  69  Microwave       0.108          0.981          0.262          0              0              0
  70  HousePlant      -0.165         0.826          6.444          0              0              0
  71  CoffeeMachine   1.551          0.982          0.953          0              270            0
  72  Toaster         1.473          0.981          4.715          0              270            0
  73  Window          -2.065         1.916          3.626          90             90             0
  74  Window          1.763          2.007          2.299          90             270            0
  75  Fridge          2.035          0.0            5.625          0              0              0
  76  SinkBasin       1.387          0.880          2.338          0              90             0
  77  GarbageCan      2.001          -0.044         6.503          0              0              0
  78  StoveKnob       1.140          0.934          3.987          45             270            0
  79  StoveKnob       1.140          0.934          4.309          45             270            0
  80  StoveKnob       1.140          0.934          4.140          45             270            0
  81  StoveKnob       1.140          0.934          3.824          45             270            0
  82  Vase            -0.226         0.834          6.993          0              0              0
  83  Vase            2.098          0.043          7.070          0              257.232        0
  84  Vase            -0.594         0.835          6.130          0              225            0
  85  LightSwitch     -2.0           1.549          6.045          0              90             0
  86  Safe            2.046          1.072          7.054          0              257.232        0
  87  Faucet          1.534          1.025          2.371          0              294.391        0
  88  Blinds          1.738          2.563          2.312          0              90             0
  89  DiningTable     -0.156         0.000          6.474          0              0              0
  90  Chair           0.291          0.002          6.142          0              310.162        0
  91  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn to the right, go forward to the table, turn to the right, go to the fridge, turn to the left and go to the dining table.  | STEP 2: Pick up the butter knife that is on the table to the right of the lettuce.  | STEP 3: Turn around, go forward, go to the right, go to the counter, go to the right, go forward, then hang a left and go to the counter where the cup is.  | STEP 4: Use the butter knife to cut the lettuce into slices.  | STEP 5: Back up and turn to the left, go forward to the counter, turn to the left, go forward to the table, turn to the right, go forward, turn to the left, turn to the right to the black garbage can.  | STEP 6: Put the butter knife in the garbage can.  | STEP 7: Turn to the right, go forward, turn to the right, go forward, turn to the left, go forward to the counter where the lettuce is.  | STEP 8: Pick up a slice of lettuce from the counter.  | STEP 9: Back up, turn around, go forward, then hang a right and go to the sink.  | STEP 10: Put the lettuce in the right side of the sink, turn the water on and rinse it off, then pick it back up.  | STEP 11: Turn to the left, go forward to the fridge, turn to the right, go forward, turn to the right to face the black garbage can.  | STEP 12: Put the lettuce in the garbage can. | END