Task: To put a knife plus a slice of lettuce in a 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           -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 around and walk across the room and walk around to the side of the kitchen table and face the knife on it. | STEP 2: Pick up the knife on the kitchen table. | STEP 3: Turn right and walk all the way across the room to face the right end of the counter. | STEP 4: Cut the front head of lettuce on the counter into slices. | STEP 5: Turn around and walk across the room then turn right to face the fridge. | STEP 6: Place the knife in the trash can to the left of the fridge. | STEP 7: Turn right and walk all the way across the room to face the right end of the counter. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn left and walk across the room and face the sink to the left. | STEP 10: Put the slice of lettuce in the sink, rinse it, then pick it back up. | STEP 11: Turn left, walk across the room, then turn right to face the fridge. | STEP 12: Put the lettuce slice in the trash can to the left of the fridge. | END