Task: Put cold 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           -0.25          0.900          0.75           0              270            0
   1  DishSponge      1.586          1.503          1.058          0              0              0              43
   2  Spatula         1.483          0.761          1.052          0              270            0              66
   3  Pot             -1.109         0.930          1.865          0              0              0              60
   4  Cup             -0.876         0.936          1.076          0              0              0              61
   5  Knife           -0.793         0.959          1.154          0              0              0              61
   6  Tomato          -0.924         1.380          0.348          0              90             0              68
   7  SoapBottle      -1.078         1.501          0.757          0              0              0              47
   8  SoapBottle      1.748          0.937          1.887          0              0              0              41
   9  Bowl            -0.976         0.562          0.195          0              90             0              68
  10  Bowl            -0.829         0.080          0.985          0              0              0              48
  11  SaltShaker      1.662          1.944          1.830          0              0              0              53
  12  SaltShaker      -1.211         0.934          2.159          0              0              0              36
  13  PepperShaker    -1.115         1.824          0.409          0              0              0              50
  14  Apple           -0.964         0.864          0.042          0              90             0              68
  15  Lettuce         -1.126         1.028          1.076          0              0              0              61
  16  SoapBottle      -1.126         0.937          0.687          0              0              0              61
  17  Bread           -0.923         0.990          2.265          0              302.470        0              36
  18  Fork            1.352          0.738          2.491          0              291.525        0              39
  19  Tomato          1.748          0.999          1.244          0              0              0              41
  20  Bowl            1.456          0.941          1.673          0              180            0              63
  21  Pot             -1.109         0.930          1.470          0              0              0              38
  22  Spatula         1.516          0.952          0.940          0              180            0              41
  23  Knife           -0.960         0.959          0.921          0              0              0              61
  24  SaltShaker      -0.710         0.934          0.998          0              0              0              61
  25  Apple           1.456          0.119          2.879          0              0              0              74
  26  PepperShaker    1.549          1.497          2.307          0              0              0              56
  27  ButterKnife     1.376          0.736          2.234          0              29.999         0              39
  28  Potato          1.456          0.880          1.341          0              180            0              78
  29  Plate           1.385          1.076          0.376          0              0              0              42
  30  DishSponge      -0.792         0.746          0.779          0              180            0              59
  31  Egg             1.597          0.979          1.589          0              180            0              63
  32  Cup             -1.076         1.826          0.250          0              0              0              50
  33  Pan             1.378          1.737          0.392          0              270            0              44
  34  Spoon           -0.689         0.747          0.847          0              270            0              59
  35  Mug             -0.712         0.932          2.462          0              180            0              36
  36  CounterTop      -0.973         0.973          2.386          0              0              0
  37  Drawer          -0.783         0.774          2.381          0              180            0
  38  StoveBurner     -1.108         0.922          1.470          0              0              0
  39  Drawer          1.370          0.774          2.391          0              0              0
  40  Stool           -0.748         0.008          3.116          0              0              0
  41  CounterTop      1.504          0.973          2.309          0              0              0
  42  Cabinet         1.219          1.388          0.591          0              0              0
  43  Cabinet         1.500          2.113          1.164          0              0              0
  44  Cabinet         1.219          2.010          0.591          0              0              0
  45  Cabinet         1.219          0.388          2.105          0              0              0
  46  Cabinet         1.219          0.553          0.591          0              0              0
  47  Cabinet         -0.913         2.113          1.164          0              0              0
  48  Cabinet         -0.633         0.388          0.627          0              0              0
  49  Cabinet         -0.913         2.050          -0.329         0              0              0
  50  Cabinet         -0.913         2.113          0.583          0              0              0
  51  Cabinet         -0.913         2.113          2.082          0              0              0
  52  Cabinet         -0.913         2.113          1.207          0              0              0
  53  Cabinet         1.500          2.113          2.082          0              0              0
  54  Cabinet         1.500          2.113          1.207          0              0              0
  55  Cabinet         1.500          1.810          2.691          0              0              0
  56  Cabinet         1.500          1.810          2.101          0              0              0
  57  Cabinet         -0.633         0.388          2.105          0              0              0
  58  Cabinet         -0.911         1.810          2.700          0              180            0
  59  Drawer          -0.783         0.774          0.915          0              180            0
  60  StoveBurner     -1.108         0.922          1.865          0              0              0
  61  CounterTop      -0.972         0.973          0.921          0              0              0
  62  Cabinet         1.219          0.388          0.631          0              0              0
  63  Sink            1.544          0.869          1.639          0              180            0
  64  StoveBurner     -0.832         0.922          1.865          0              0              0
  65  StoveBurner     -0.831         0.922          1.470          0              0              0
  66  Drawer          1.370          0.774          0.916          0              0              0
  67  Cabinet         -0.911         1.810          2.111          0              180            0
  68  Fridge          -1.001         0.0            0.119          0              0              0
  69  StoveKnob       -0.648         0.926          1.923          0              270            0
  70  StoveKnob       -0.648         0.926          1.363          0              270            0
  71  StoveKnob       -0.648         0.926          1.513          0              270            0
  72  StoveKnob       -0.648         0.926          1.763          0              270            0
  73  Toaster         -1.002         0.926          2.561          0              90             0
  74  GarbageCan      1.451          -0.029         2.912          0              0              0
  75  Microwave       1.632          1.480          1.645          0              270            0
  76  Window          0.224          1.601          3.509          90             0              0
  77  CoffeeMachine   1.692          0.926          2.453          0              270            0
  78  SinkBasin       1.461          0.833          1.369          0              180            0
  79  LightSwitch     0.451          1.412          -1.674         0              0              0
  80  Faucet          1.707          0.925          1.363          0              270            0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Go forward to the counter that is between the fridge and stove. | STEP 2: Pick up the lettuce that is on the counter. | STEP 3: Move back from the counter a little bit.  | STEP 4: Put the lettuce on the counter between the fridge and the salt shaker.  | STEP 5: Pick up the big knife that is on the left of the salt shaker and cup.  | STEP 6: Use the knife to cut the lettuce into slices. | STEP 7: Put the knife down on the counter in between the lettuce and the cup. | STEP 8: Pick up a slice of the lettuce that is on the counter.  | STEP 9: Turn to the left and go to the fridge that is on the right.  | STEP 10: Put the lettuce inside the fridge and close the door, open the fridge and remove the cold lettuce, close the fridge.  | STEP 11: Turn to the right and go to the wall, then hang a right, go to the garbage can. | STEP 12: Put the lettuce in the garbage can. | END