Task: Place a cold lettuce slice in a blue 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           2.25           0.930          0.0            0              0              0
   1  Potato          3.07           0.791          0.098          0              90             0              105
   2  Potato          -1.052         1.036          1.258          0              90             0              108
   3  Ladle           0.665          1.711          -1.619         0              90             0              75
   4  DishSponge      0.445          0.910          0.627          0              0              0              91
   5  DishSponge      0.904          1.674          -1.480         0              0              0              75
   6  ButterKnife     -1.008         0.900          0.176          0              0              0              60
   7  Glassbottle     0.304          1.260          -1.741         0              0              0              76
   8  Glassbottle     0.775          0.908          0.213          0              36.810         0              91
   9  Spoon           -0.868         0.707          -0.011         0              0              0              67
  10  Spoon           0.101          0.901          -1.373         0              0              0              81
  11  Apple           0.839          0.984          0.530          0              36.810         0              91
  12  Apple           -0.756         0.974          -0.672         0              45             0              60
  13  PepperShaker    2.847          0.897          0.104          0              0              0              59
  14  SoapBottle      3.246          1.273          -0.790         0              0              0              73
  15  SoapBottle      3.173          1.473          -1.382         0              0              0              74
  16  Tomato          -0.935         0.937          0.176          0              0              0              60
  17  Egg             3.277          0.953          -0.798         0              0              0              59
  18  Cup             3.084          0.173          -0.404         0              0              0              71
  19  Plate           3.028          0.188          -0.786         0              0              0              72
  20  Knife           0.967          0.933          0.322          0              0              0              91
  21  Plate           0.550          0.921          0.259          0              36.810         0              91
  22  Glassbottle     -0.182         1.264          -1.502         0              45             0              77
  23  SoapBottle      3.113          1.473          -1.697         0              0              0              58
  24  Potato          0.716          0.946          0.135          0              36.810         0              91
  25  Fork            0.258          0.900          -1.445         0              180            0              81
  26  Ladle           -0.868         0.743          1.605          0              0              0              53
  27  Pot             -0.420         0.902          -0.920         0              135            0              55
  28  Kettle          -0.419         0.902          -1.269         0              315            0              62
  29  Spatula         -0.789         0.915          0.176          0              90             0              60
  30  Knife           -0.885         0.925          -0.643         0              135            0              60
  31  Lettuce         1.098          0.973          0.038          0              0              0              91
  32  Cup             -1.085         0.995          1.470          0              90             0              108
  33  SaltShaker      -0.717         0.896          0.623          0              0              0              64
  34  Egg             -1.119         1.050          1.364          0              90             0              108
  35  PepperShaker    -0.745         0.703          1.255          0              0              0              53
  36  ButterKnife     0.151          0.900          -1.476         0              135            0              81
  37  Apple           -1.008         0.974          0.623          0              0              0              60
  38  Pan             0.710          0.910          0.827          0              0              0              91
  39  Bread           -0.862         0.979          0.846          0              0              0              60
  40  CellPhone       1.064          0.905          0.483          0              36.810         0              91
  41  DishSponge      1.208          1.674          -1.689         0              0              0              51
  42  Tomato          3.128          0.137          1.546          0              225            0              101
  43  Spoon           -0.827         0.707          -0.273         0              0              0              67
  44  Bowl            1.160          1.671          -1.410         0              0              0              51
  45  Mug             3.049          0.966          0.591          0              270            0              103
  46  Drawer          0.376          0.572          -1.509         0              0              0
  47  Drawer          3.020          0.769          -0.783         0              180            0
  48  Drawer          -0.860         0.577          1.429          0              0              0
  49  StoveBurner     -0.600         0.897          -1.090         0              135            0
  50  Drawer          0.376          0.191          -1.509         0              0              0
  51  Cabinet         1.402          1.874          -1.259         0              0              0
  52  Cabinet         -0.202         1.963          -1.328         0              0              0
  53  Drawer          -0.860         0.765          1.429          0              0              0
  54  Drawer          -0.677         0.765          -0.700         0              0              0
  55  StoveBurner     -0.420         0.897          -0.920         0              135            0
  56  Drawer          3.020          0.769          -0.407         0              180            0
  57  Drawer          -0.860         0.577          0.663          0              0              0
  58  Cabinet         2.819          1.768          -1.850         0              0              0
  59  CounterTop      3.111          0.936          0.019          0              0              0
  60  CounterTop      -1.007         0.935          -0.039         0              0              0
  61  Drawer          -0.860         0.385          0.663          0              0              0
  62  StoveBurner     -0.419         0.897          -1.269         0              315            0
  63  Drawer          -0.047         0.573          -1.324         0              0              0
  64  Drawer          -0.860         0.765          0.663          0              0              0
  65  Drawer          -0.860         0.385          -0.100         0              0              0
  66  Drawer          0.376          0.380          -1.509         0              0              0
  67  Drawer          -0.860         0.765          -0.100         0              0              0
  68  Drawer          0.376          0.765          -1.509         0              0              0
  69  Cabinet         2.849          0.419          0.409          0              0              0
  70  Drawer          -0.047         0.765          -1.324         0              0              0
  71  Cabinet         2.849          0.419          -0.610         0              0              0
  72  Cabinet         2.849          0.419          -0.959         0              0              0
  73  Cabinet         3.069          1.666          -0.709         0              0              0
  74  Cabinet         2.819          1.768          -1.047         0              0              0
  75  Cabinet         0.620          1.874          -1.259         0              0              0
  76  Cabinet         0.140          1.666          -1.559         0              0              0
  77  Cabinet         -0.189         1.666          -1.340         0              0              0
  78  Cabinet         -0.709         1.963          -0.819         0              0              0
  79  Cabinet         -0.920         1.665          -0.620         0              0              0
  80  Drawer          -0.860         0.190          -0.100         0              0              0
  81  CounterTop      0.133          0.935          -1.457         0              0              0
  82  Drawer          3.020          0.769          0.695          0              180            0
  83  Drawer          -0.677         0.577          -0.700         0              0              0
  84  Drawer          -0.860         0.190          1.429          0              0              0
  85  Drawer          -0.047         0.192          -1.324         0              0              0
  86  Drawer          -0.677         0.193          -0.700         0              0              0
  87  Drawer          -0.860         0.577          -0.100         0              0              0
  88  Sink            3.078          0.887          0.086          0              0              0
  89  StoveBurner     -0.239         0.897          -1.089         0              315            0
  90  Drawer          -0.860         0.190          0.663          0              0              0
  91  CounterTop      1.210          0.937          0.463          0              0              0
  92  Drawer          -0.047         0.381          -1.324         0              0              0
  93  Drawer          -0.677         0.387          -0.700         0              0              0
  94  Mirror          -1.295         1.630          0.045          0              0              0
  95  Drawer          -0.860         0.385          1.429          0              0              0
  96  HousePlant      3.196          0.891          -0.368         0              0              0
  97  StoveKnob       -0.090         0.790          -1.009         270            45             0
  98  StoveKnob       -0.280         0.790          -0.819         270            45             0
  99  StoveKnob       -0.180         0.790          -0.920         270            45             0
 100  StoveKnob       -0.370         0.790          -0.720         270            45             0
 101  GarbageCan      3.137          0.025          1.545          0              225            0
 102  Window          3.703          1.675          0.046          90             90             0
 103  CoffeeMachine   3.214          0.890          0.697          0              270            0
 104  LightSwitch     2.592          1.309          -1.880         0              0              0
 105  SinkBasin       3.069          0.736          0.108          0              90             0
 106  Fridge          1.008          0.029          -1.467         0              0              0
 107  Toaster         -1.035         0.873          -0.396         0              90             0
 108  Microwave       -1.034         0.874          1.428          0              90             0
 109  Faucet          3.305          0.886          0.094          270            180            0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: turn to the left an take a step and turn to the left and take a few steps and turn to the right and take a few steps and turn to the right facing the counter top | STEP 2: pick up the yellow handle knife from the counter | STEP 3: look at the head of lettuce on the counter | STEP 4: slice up with the knife the head of lettuce on the counter | STEP 5: turn to the left twice and go to the refrigerator | STEP 6: open the refrigerator door and put the knife on the bottom shelf and close the refrigerator door | STEP 7: turn to the left twice and go to the counter | STEP 8: pick up slice of lettuce from the counter top | STEP 9: turn to the left twice and go to the refrigerator | STEP 10: open the refrigerator door and put the lettuce slice on the bottom shelf and close the refrigerator door and wait and open the door and take out the lettuce slice and close the door | STEP 11: turn to the left and go past clear the counter and turn to the left and go to the wall and turn to the right and go to the blues waste basket | STEP 12: put the lettuce slice in the blue waste basket | END