Task: Put a slice of chilled lettuce in a garbage bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          1.75           0              270            0
   1  Pan             -0.244         0.829          1.684          0              0              0              39
   2  Ladle           -2.540         1.893          1.926          0              0              0              34
   3  DishSponge      -2.608         0.823          0.278          0              0              0              40
   4  Fork            -0.496         0.696          1.288          0              270            0              36
   5  Spoon           -1.161         0.699          0.377          0              90             0              44
   6  Egg             -0.429         0.080          2.505          0              0              0              60
   7  Egg             -2.724         0.847          0.352          0              0              0              40
   8  Plate           -2.671         0.829          2.221          0              90             0              58
   9  Knife           -2.375         0.849          0.203          0              0              0              40
  10  Knife           -1.876         0.849          0.528          0              0              0              40
  11  Apple           -0.362         0.129          2.606          0              0              0              60
  12  Apple           -2.844         0.994          1.178          0              90             0              59
  13  Fork            -2.597         0.693          1.474          0              90             0              45
  14  Ladle           -2.609         0.165          1.471          0              0              0              51
  15  Pan             -0.244         0.829          2.075          0              180            0              35
  16  SoapBottle      -2.905         1.432          1.372          0              0              0              48
  17  Pot             -0.531         0.822          2.096          0              0              0              37
  18  Tomato          -2.837         0.874          2.397          0              90             0              58
  19  Potato          -0.400         0.862          1.326          0              0              0              40
  20  SaltShaker      -2.609         0.116          1.550          0              0              0              51
  21  Plate           -2.837         1.148          2.133          0              90             0              58
  22  Spatula         -2.957         0.838          0.278          0              90             0              40
  23  Knife           -2.662         0.819          0.557          90             300.034        0              40
  24  Egg             -2.711         0.945          1.390          0              90             0              59
  25  Cup             -2.619         1.849          2.264          0              0              0              50
  26  ButterKnife     -1.151         0.823          0.500          0              0              0              40
  27  Lettuce         -1.836         0.741          0.238          0              55.910         0              67
  28  PepperShaker    -0.477         0.818          0.770          0              0              0              40
  29  DishSponge      -0.888         0.709          0.411          0              0              0              43
  30  Bread           -0.979         0.855          0.249          0              29.999         0              40
  31  Spoon           -2.375         0.824          0.500          0              0              0              40
  32  Mug             -0.646         0.888          0.367          0              0              0              68
  33  Bowl            -2.782         1.140          2.397          0              90             0              58
  34  Cabinet         -2.377         2.015          1.720          0              0              0
  35  StoveBurner     -0.244         0.820          2.075          0              180            0
  36  Drawer          -0.402         0.703          1.252          0              0              0
  37  StoveBurner     -0.518         0.820          2.075          0              180            0
  38  Sink            -1.838         0.726          0.343          0              180            0
  39  StoveBurner     -0.244         0.820          1.684          0              0              0
  40  CounterTop      -1.557         0.859          0.277          0              0              0
  41  StoveBurner     -0.518         0.820          1.684          0              0              0
  42  Drawer          -0.404         0.704          0.912          0              0              0
  43  Drawer          -0.861         0.709          0.420          0              0              0
  44  Drawer          -1.133         0.706          0.418          0              0              0
  45  Drawer          -2.589         0.703          1.511          0              0              0
  46  Cabinet         -2.772         1.803          0.508          0              0              0
  47  Cabinet         -2.460         1.803          0.231          0              0              0
  48  Cabinet         -2.781         1.798          0.825          0              0              0
  49  Cabinet         -2.781         1.798          0.815          0              0              0
  50  Cabinet         -2.377         2.009          2.581          0              0              0
  51  Cabinet         -2.442         0.385          1.672          0              0              0
  52  Cabinet         -2.238         0.385          0.564          0              0              0
  53  Cabinet         -1.286         0.385          0.564          0              0              0
  54  Cabinet         -1.262         0.385          0.565          0              0              0
  55  Cabinet         -0.734         0.385          0.565          0              0              0
  56  Cabinet         -0.549         0.385          0.751          0              0              0
  57  Cabinet         -0.549         0.385          1.412          0              0              0
  58  Fridge          -2.782         0.0            2.221          0              0              0
  59  Microwave       -2.794         0.812          1.348          0              90             0
  60  GarbageCan      -0.329         2.205          2.606          0              0              0
  61  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  62  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  63  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  64  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  65  Window          -1.720         1.342          -0.208         90             0              0
  66  Toaster         -0.171         0.812          0.735          0              270            0
  67  SinkBasin       -1.745         0.687          0.295          0              0              0
  68  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  69  LightSwitch     -0.615         1.378          3.0            0              180            0
  70  Faucet          -1.686         0.954          0.176          0              236.223        0
  71  Stool           -1.008         0.008          1.955          0              18.279         0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Turn left and go to the sink | STEP 2: Pick up the knife that is to the right of the loaf of bread on the counter | STEP 3: Turn right and then turn left and go to the larger of the two sinks | STEP 4: Slice the head of lettuce in half that is in the larger sink | STEP 5: Turn left then turn right to face the smaller sink, then turn right  | STEP 6: Open the cupboard to the right of the dishwasher and put the knife inside | STEP 7: Turn left to face the two sinks | STEP 8: Cut a slice of the lettuce that is in the larger sink and pick up the slice | STEP 9: Turn around and go to the wall then turn left to face the fridge | STEP 10: Put the slice of lettuce in the fridge to chill then take it back out | STEP 11: Turn around and head to the green garbage bin that is between the stove and the wall | STEP 12: Put the slice of lettuce in the green garbage bin | END