Task: Toss cooled lettuce into the waste basket.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          -1.25          0              180            0
   1  Potato          -0.937         0.598          0.195          0              90             0              72
   2  DishSponge      -1.154         1.828          -0.035         0              0              0              53
   3  ButterKnife     1.344          0.746          2.459          0              90             0              43
   4  Fork            -1.043         0.938          0.765          0              180            0              65
   5  Fork            -0.792         0.747          1.050          0              270            0              63
   6  Spatula         1.344          0.761          1.052          0              270            0              70
   7  Egg             1.597          0.979          1.631          0              180            0              67
   8  Plate           1.391          0.086          0.988          0              0              0              66
   9  Knife           -0.876         0.959          1.076          0              0              0              65
  10  SoapBottle      1.309          0.100          0.373          0              0              0              50
  11  Bowl            1.419          1.743          -0.035         0              0              0              48
  12  Bowl            -0.924         1.495          0.119          0              90             0              72
  13  PepperShaker    -0.999         1.946          1.924          0              0              0              55
  14  PepperShaker    -1.039         1.825          -0.266         0              0              0              53
  15  Lettuce         -1.043         1.028          1.076          0              0              0              65
  16  Mug             -1.018         1.494          0.348          0              90             0              72
  17  Mug             1.528          1.002          2.345          0              270            0              45
  18  Apple           1.489          0.119          2.879          0              0              0              78
  19  Lettuce         1.458          1.014          1.669          2.850          60.376         356.002        67
  20  SoapBottle      1.669          0.937          0.940          0              0              0              45
  21  Bread           -0.923         0.990          2.265          0              302.470        0              40
  22  Fork            -0.689         0.747          2.517          0              270            0              41
  23  Tomato          1.669          0.999          0.739          0              0              0              45
  24  Bowl            -1.126         0.934          0.765          0              0              0              65
  25  Pot             -1.109         0.930          1.865          0              0              0              64
  26  Spatula         -0.758         0.761          0.914          0              270            0              63
  27  Knife           -0.723         0.768          2.517          0              270            0              41
  28  SaltShaker      -0.884         0.078          2.241          0              0              0              61
  29  Apple           1.587          1.645          1.808          0              270            0              79
  30  PepperShaker    1.729          0.934          1.780          0              0              0              45
  31  ButterKnife     1.376          0.736          2.234          0              29.999         0              43
  32  Potato          -0.971         1.351          0.042          0              90             0              72
  33  Plate           -1.076         1.832          0.303          0              0              0              54
  34  DishSponge      1.456          0.936          1.798          0              180            0              67
  35  Egg             -1.014         0.600          0.348          0              90             0              72
  36  Cup             -0.860         0.564          0.042          0              90             0              72
  37  Pan             -1.109         0.930          1.470          0              0              0              42
  38  Spoon           -0.712         0.939          2.234          0              90             0              40
  39  Mug             1.307          1.067          0.478          0              0              0              46
  40  CounterTop      -0.973         0.973          2.386          0              0              0
  41  Drawer          -0.783         0.774          2.381          0              180            0
  42  StoveBurner     -1.108         0.922          1.470          0              0              0
  43  Drawer          1.370          0.774          2.391          0              0              0
  44  Stool           -0.748         0.008          3.116          0              0              0
  45  CounterTop      1.504          0.973          2.309          0              0              0
  46  Cabinet         1.219          1.388          0.591          0              0              0
  47  Cabinet         1.500          2.113          1.164          0              0              0
  48  Cabinet         1.219          2.010          0.591          0              0              0
  49  Cabinet         1.219          0.388          2.105          0              0              0
  50  Cabinet         1.219          0.553          0.591          0              0              0
  51  Cabinet         -0.913         2.113          1.164          0              0              0
  52  Cabinet         -0.633         0.388          0.627          0              0              0
  53  Cabinet         -0.913         2.050          -0.329         0              0              0
  54  Cabinet         -0.913         2.113          0.583          0              0              0
  55  Cabinet         -0.913         2.113          2.082          0              0              0
  56  Cabinet         -0.913         2.113          1.207          0              0              0
  57  Cabinet         1.500          2.113          2.082          0              0              0
  58  Cabinet         1.500          2.113          1.207          0              0              0
  59  Cabinet         1.500          1.810          2.691          0              0              0
  60  Cabinet         1.500          1.810          2.101          0              0              0
  61  Cabinet         -0.633         0.388          2.105          0              0              0
  62  Cabinet         -0.911         1.810          2.700          0              180            0
  63  Drawer          -0.783         0.774          0.915          0              180            0
  64  StoveBurner     -1.108         0.922          1.865          0              0              0
  65  CounterTop      -0.972         0.973          0.921          0              0              0
  66  Cabinet         1.219          0.388          0.631          0              0              0
  67  Sink            1.544          0.869          1.639          0              180            0
  68  StoveBurner     -0.832         0.922          1.865          0              0              0
  69  StoveBurner     -0.831         0.922          1.470          0              0              0
  70  Drawer          1.370          0.774          0.916          0              0              0
  71  Cabinet         -0.911         1.810          2.111          0              180            0
  72  Fridge          -1.001         0.0            0.119          0              0              0
  73  StoveKnob       -0.648         0.926          1.923          0              270            0
  74  StoveKnob       -0.648         0.926          1.363          0              270            0
  75  StoveKnob       -0.648         0.926          1.513          0              270            0
  76  StoveKnob       -0.648         0.926          1.763          0              270            0
  77  Toaster         -1.002         0.926          2.561          0              90             0
  78  GarbageCan      1.451          -0.029         2.912          0              0              0
  79  Microwave       1.632          1.480          1.645          0              270            0
  80  Window          0.224          1.601          3.509          90             0              0
  81  CoffeeMachine   1.692          0.926          2.453          0              270            0
  82  SinkBasin       1.461          0.833          1.369          0              180            0
  83  LightSwitch     0.451          1.412          -1.674         0              0              0
  84  Faucet          1.707          0.925          1.363          0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn around to the right and walk to the counter between the refrigerator and the stove. | STEP 2: Pick up the knife by the lettuce from the counter.  | STEP 3: Slice the left half of the lettuce that is on the counter.  | STEP 4: Roll the right side of the  lettuce toward the stove.  | STEP 5: Pick up the rightmost slice of lettuce from the counter.  | STEP 6: Turn to the left and walk to the refrigerator.  | STEP 7: Open the refrigerator. Place the lettuce slice on the top shelf,and shut the door. Open the door and grab the lettuce. Shut the door.  | STEP 8: Turn right, walk to the wall, turn right, and walk to the counter by the waste basket.  | STEP 9: Throw the lettuce into the waste basket.  | END